WO2022091707A1 - Electronic apparatus, information processing device, methods for controlling these, and program - Google Patents

Electronic apparatus, information processing device, methods for controlling these, and program Download PDF

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Publication number
WO2022091707A1
WO2022091707A1 PCT/JP2021/036661 JP2021036661W WO2022091707A1 WO 2022091707 A1 WO2022091707 A1 WO 2022091707A1 JP 2021036661 W JP2021036661 W JP 2021036661W WO 2022091707 A1 WO2022091707 A1 WO 2022091707A1
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WO
WIPO (PCT)
Prior art keywords
transmitted
wave
electronic device
information
frequency
Prior art date
Application number
PCT/JP2021/036661
Other languages
French (fr)
Japanese (ja)
Inventor
正光 錦戸
将行 佐東
聡 川路
洋平 村上
Original Assignee
京セラ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京セラ株式会社 filed Critical 京セラ株式会社
Priority to US18/248,258 priority Critical patent/US20230408672A1/en
Priority to EP21885826.4A priority patent/EP4235210A1/en
Priority to CN202180072906.2A priority patent/CN116348780A/en
Publication of WO2022091707A1 publication Critical patent/WO2022091707A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/346—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using noise modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0236—Avoidance by space multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/282—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations

Definitions

  • This disclosure relates to electronic devices and information processing devices, their control methods, and programs.
  • radar Radio Detecting and Ringing
  • RADAR Radio Detecting and Ringing
  • Techniques have been studied in various ways. The importance of such technology for measuring distances will increase in the future with the development of technology that assists the driver's driving and technology related to automated driving that automates part or all of the driving. is expected.
  • Patent Document 1 proposes to avoid radio wave interference by stopping transmission or reception of the radar device of the own device when interference occurs due to the angle of the antenna between the radar of the own device and another radar. are doing.
  • Patent Document 2 proposes to avoid radio wave interference by setting different frequency hopping patterns by sharing information between a plurality of radars.
  • the electronic device is The transmitting antenna that transmits the transmitted wave and A receiving antenna that receives the reflected wave reflected by the transmitted wave, and To prepare for.
  • the electronic device makes the frequency at which the transmitted wave is transmitted variable in a plurality of segments, and makes the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Detects reflecting objects.
  • the electronic device processes information processing based on the position information of the electronic device, a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave, and a reception signal received as the reflected wave. Send to the device.
  • the electronic device makes the frequency at which the transmitted wave is transmitted variable in a plurality of segments, and makes the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Detects reflecting objects.
  • the electronic device transmits the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device.
  • the information processing apparatus is Based on the transmission signal transmitted as a transmission wave and the reception signal received as a reflected wave reflected by the transmission wave, it communicates with an electronic device that detects an object that reflects the transmission wave.
  • the information processing device is A receiving unit that receives the search information based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device from the electronic device.
  • a control unit that statistically processes the exploration information at the position of the electronic device to generate statistical information, and generates control information for controlling the electronic device according to the statistical information.
  • a transmission unit that transmits the control information generated by the control unit to the electronic device, and a transmission unit. To prepare for.
  • the method for controlling an electronic device is as follows.
  • the frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave.
  • control method of the electronic device is as follows.
  • the frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave.
  • control method of the information processing apparatus is as follows.
  • a control method for an information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave reflected by the transmitted wave.
  • the program according to one embodiment is For electronic devices The step of transmitting the transmitted wave by the transmitting antenna and The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna, The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is detected based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps to do and A step of transmitting search information based on a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave and a reception signal received as the reflected wave as the transmission wave to the information processing apparatus together with the position information of the electronic device. When, To execute.
  • the program according to one embodiment is For electronic devices The step of transmitting the transmitted wave by the transmitting antenna and The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna, The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and A step of transmitting the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device. To execute.
  • the program according to one embodiment is An information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave reflected by the transmitted wave.
  • An object of the present disclosure is an electronic device and an information processing apparatus capable of reducing interference of a transmitted wave in a technique for detecting a predetermined object by receiving the reflected wave reflected by the transmitted transmitted wave on the object. It is to provide a control method as well as a program. According to one embodiment, an electronic device and an information processing apparatus capable of reducing interference of a transmitted wave in a technique for detecting a predetermined object by receiving the reflected wave reflected by the transmitted transmitted wave. These control methods as well as programs can be provided.
  • one embodiment will be described in detail with reference to the drawings.
  • the electronic device according to the embodiment can detect a predetermined object existing around the moving body by being mounted on a vehicle (moving body) such as an automobile. Therefore, the electronic device according to the embodiment can transmit a transmitted wave around the moving body from the transmitting antenna installed on the moving body. Further, the electronic device according to the embodiment can receive the reflected wave in which the transmitted wave is reflected from the receiving antenna installed in the moving body. At least one of the transmitting antenna and the receiving antenna may be provided in, for example, a radar sensor installed in a moving body.
  • the electronic device according to an embodiment is not limited to the automobile.
  • the electronic devices according to the embodiment include various types of electronic devices such as self-driving automobiles, buses, taxis, trucks, motorcycles, bicycles, ships, aircraft, helicopters, tractors and other agricultural work equipment, snow removal vehicles, cleaning vehicles, police cars, ambulances, and drones. It may be mounted on a moving body of. Further, the electronic device according to the embodiment is not necessarily limited to a moving body that moves by its own power. For example, the moving body on which the electronic device according to the embodiment is mounted may be a trailer portion towed by a tractor.
  • the electronic device can measure the distance between the sensor and the object in a situation where at least one of the sensor and a predetermined object can move. Further, the electronic device according to the embodiment can measure the distance between the sensor and the object even if both the sensor and the object are stationary.
  • the automobiles included in this disclosure are not limited by the total length, the total width, the total height, the displacement, the capacity, the load capacity, and the like.
  • the self-driving vehicle of the present disclosure includes a vehicle having a displacement of more than 660 cc, a vehicle having a displacement of 660 cc or less, a so-called light vehicle, and the like.
  • the automobile included in the present disclosure is not limited to a so-called gasoline-powered vehicle.
  • the self-driving vehicle of the present disclosure also includes a vehicle in which part or all of the energy uses electricity and the power of a motor is used.
  • FIG. 1 is a diagram illustrating a usage mode of an electronic device according to an embodiment.
  • FIG. 1 shows an example in which a sensor including a transmitting antenna and a receiving antenna according to an embodiment is installed in a moving body.
  • the mobile body 100 shown in FIG. 1 is provided with a sensor 5 including a transmitting antenna and a receiving antenna according to the embodiment. Further, the mobile body 100 shown in FIG. 1 may be equipped with (for example, built-in) the electronic device 1 according to the embodiment. The specific configuration of the electronic device 1 will be described later.
  • the sensor 5 may include, for example, at least one of a transmitting antenna and a receiving antenna. Further, the sensor 5 may appropriately include at least one of other functional units such as at least a part of the radar control unit 10 (FIG. 2) included in the electronic device 1.
  • the moving body 100 shown in FIG. 1 may be an automobile vehicle such as a passenger car, but may be any type of moving body. In FIG. 1, the moving body 100 may, for example, move (run or slow) in the positive direction (traveling direction) of the Y axis shown in the figure, move in another direction, or move. It may be stationary without.
  • a sensor 5 provided with a transmitting antenna is installed in the mobile body 100.
  • only one sensor 5 including a transmitting antenna and a receiving antenna is installed in front of the mobile body 100.
  • the position where the sensor 5 is installed on the moving body 100 is not limited to the position shown in FIG. 1, and may be another position as appropriate.
  • the sensor 5 as shown in FIG. 1 may be installed on the left side, the right side, and / or the rear of the moving body 100.
  • the number of such sensors 5 may be any one or more depending on various conditions (or requirements) such as the range and / or accuracy of measurement in the moving body 100.
  • the sensor 5 may be installed inside the moving body 100.
  • the inside of the moving body 100 may be, for example, a space inside a bumper, a space inside a body, a space inside a headlight, a space inside a driving space, or the like.
  • the sensor 5 transmits an electromagnetic wave as a transmitted wave from the transmitting antenna. For example, when a predetermined object (for example, the object 200 shown in FIG. 1) exists around the moving body 100, at least a part of the transmitted wave transmitted from the sensor 5 is reflected by the object to become a reflected wave. Then, by receiving such a reflected wave by, for example, the receiving antenna of the sensor 5, the electronic device 1 mounted on the mobile body 100 can detect the object.
  • a predetermined object for example, the object 200 shown in FIG. 1
  • the electronic device 1 mounted on the mobile body 100 can detect the object.
  • the sensor 5 provided with a transmitting antenna may typically be a radar (RADAR (Radio Detecting and Ringing)) sensor that transmits and receives radio waves.
  • RADAR Radio Detecting and Ringing
  • the sensor 5 is not limited to the radar sensor.
  • the sensor 5 according to one embodiment may be, for example, a sensor based on a LIDAR (Light Detection and Ringing, Laser Imaging Detection and Ringing) technique using light waves. Sensors such as these can be configured to include, for example, patch antennas. Since techniques such as RADAR and LIDAR are already known, detailed description may be simplified or omitted as appropriate.
  • the electronic device 1 mounted on the mobile body 100 shown in FIG. 1 receives the reflected wave of the transmitted wave transmitted from the transmitting antenna of the sensor 5 from the receiving antenna. In this way, the electronic device 1 can detect a predetermined object 200 existing within a predetermined distance from the moving body 100. For example, as shown in FIG. 1, the electronic device 1 can measure the distance L between the moving body 100, which is the own vehicle, and the predetermined object 200. The electronic device 1 can also measure the relative speed between the moving body 100, which is its own vehicle, and the predetermined object 200. Further, the electronic device 1 can also measure the direction (arrival angle ⁇ ) at which the reflected wave from the predetermined object 200 arrives at the moving body 100 which is the own vehicle.
  • the angle at which a signal such as a reflected wave from the object 200 arrives at the own device is also referred to as an “arrival angle”.
  • the object 200 is, for example, at least one of an oncoming vehicle traveling in a lane adjacent to the moving body 100, a vehicle traveling in parallel with the moving body 100, and a vehicle before and after traveling in the same lane as the moving body 100. good.
  • the object 200 is a moving object such as a motorcycle, a bicycle, a stroller, a pedestrian or other human being, an animal, an insect or other life form, a guardrail, a median strip, a road sign, a step on a sidewalk, a wall, a manhole, or an obstacle. It may be any object existing around the body 100.
  • the object 200 may be moving or may be stationary.
  • the object 200 may be a car parked or stopped around the moving body 100.
  • the ratio between the size of the sensor 5 and the size of the moving body 100 does not necessarily indicate the actual ratio.
  • the sensor 5 is shown in a state of being installed outside the moving body 100.
  • the sensor 5 may be installed at various positions of the moving body 100.
  • the sensor 5 may be installed inside the bumper of the moving body 100 so as not to appear in the appearance of the moving body 100.
  • ADAS advanced driver assistance systems
  • millimeter-wave radar a sensor having high speed, high accuracy, and high reliability is desired at a lower cost.
  • Millimeter-wave radar is often used as such a sensor.
  • the frequency band already used there are a 24 GHz band, a 77 GHz band, and a 79 GHz band.
  • the 140 GHz band is being studied by the frequency allocating organization in consideration of international cooperation.
  • the frequency allocation organization is the Ministry of Internal Affairs and Communications in Japan, and the ITU-R (ITU (International Telecommunication Union) Radiocommunication Sector) worldwide.
  • the FMCW (Frequency Modified Continuous Wave radar) method which changes the frequency of the transmitted radio wave to a constant level over time, is widely adopted as a distance measuring method based on the millimeter-wave radar technology described above.
  • a system equipped with a millimeter-wave radar becomes widespread, it is expected that the transmission signals of the millimeter-wave radar mounted on many automobiles and the like will interfere with each other. When such interference occurs, it is expected that the accurate distance measurement and angle measurement performance of the millimeter wave radar will be weakened.
  • the wider the width for changing the frequency (bandwidth of the frequency to be used)
  • the better the distance measurement / angle measurement performance the wider the width for changing the frequency (bandwidth of the frequency to be used).
  • the electronic device 1 will be described as a device that can deal with such a situation.
  • the transmitting antenna of the electronic device 1 transmits radio waves in a frequency band such as millimeter waves (30 GHz or more) or quasi-millimeter waves (for example, around 20 GHz to 30 GHz). It is explained as.
  • the transmitting antenna of the electronic device 1 may transmit a radio wave having a frequency bandwidth of 4 GHz, such as 77 GHz to 81 GHz.
  • the transmitting antenna of the electronic device 1 may transmit a radio wave having at least one frequency bandwidth of 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
  • FIG. 2 is a functional block diagram schematically showing a configuration example of the electronic device 1 according to the embodiment.
  • the electronic device 1 according to the embodiment may correspond to the transmission and reception of radio waves in a plurality of frequency bands.
  • an example of the configuration of the electronic device 1 according to the embodiment will be described.
  • FMCW radar Frequency Modified Continuous Wave radar
  • the FMCW radar sweeps the frequency of the radio wave to be transmitted to generate a transmission signal. Therefore, in a millimeter-wave FMCW radar that uses radio waves in the frequency band of 79 GHz, for example, the frequency of the radio waves used has a frequency bandwidth of 4 GHz, for example, 77 GHz to 81 GHz. Radars in the 79 GHz frequency band are characterized by a wider usable frequency bandwidth than other millimeter-wave / quasi-millimeter wave radars, such as the 24 GHz, 60 GHz, and 76 GHz frequency bands.
  • the transmitting antenna of the electronic device 1 transmits a radio wave having at least one of the frequency bandwidths of the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
  • the description similar to that of a general millimeter-wave radar will be simplified or omitted as appropriate.
  • the electronic device 1 is composed of a sensor 5 and an ECU (Electronic Control Unit) 50.
  • the ECU 50 controls various operations of the moving body 100 such as an automobile.
  • the ECU 50 may be composed of at least one or more ECUs.
  • the electronic device 1 includes a radar control unit 10, a frequency synthesizer 12, a transmission unit 20, a transmission antenna 23, a reception unit 30, a reception antenna 31, and an analog front end 40. May be configured.
  • the transmission unit 20 may include a transmission signal generation unit 21 and a DAC 22.
  • the receiving unit 30 includes an ADC 32, a distance estimation unit 33, a speed estimation unit 34, an angle estimation unit 35, a clustering tracking processing unit 36, and a noise power measurement unit 37. good.
  • the electronic device 1 according to the embodiment may not include at least one of the functional units shown in FIG.
  • the electronic device 1 may include an arbitrary storage unit that can be configured by a semiconductor memory or the like.
  • the electronic device 1 shown in FIG. 2 may be configured by using a circuit configured basically in the same manner as a general radar using an electromagnetic wave such as a millimeter wave band.
  • the control by the radar control unit 10 and the operation by the noise power measurement unit 37 may be different from those of the conventional general radar.
  • the electronic device 1 may include a plurality of pairs of a transmitting antenna 23 and a receiving antenna 31 in order to support radio waves in a plurality of frequency bands.
  • the sensor 5 of the electronic device 1 shown in FIG. 2 includes a transmitting antenna 23a, a transmitting antenna 23b, and a transmitting antenna 23c.
  • the sensor 5 of the electronic device 1 shown in FIG. 2 includes a receiving antenna 31a, a receiving antenna 31b, and a receiving antenna 31c.
  • transmitting antenna 23 when a plurality of transmitting antennas such as the transmitting antenna 23a, the transmitting antenna 23b, and the transmitting antenna 23c are not particularly distinguished, they may be simply referred to as “transmitting antenna 23”.
  • a plurality of receiving antennas such as the receiving antenna 31a, the receiving antenna 31b, and the receiving antenna 31c are not particularly distinguished, it may be simply referred to as “receiving antenna 31”.
  • the radar control unit 10 shown in FIG. 2 can control the operation of the entire electronic device 1 including the control of each functional unit constituting the electronic device 1.
  • the radar control unit 10 may include at least one processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) in order to provide control and processing power for executing various functions. ..
  • the radar control unit 10 may be realized collectively by one processor, by several processors, or by individual processors.
  • the processor may be realized as a single integrated circuit.
  • the integrated circuit is also referred to as an IC (Integrated Circuit).
  • the processor may be realized as a plurality of communicably connected integrated circuits and discrete circuits.
  • the processor may be implemented on the basis of various other known techniques.
  • the radar control unit 10 may be configured as, for example, a CPU (hardware) and a program (software) executed by the CPU.
  • the radar control unit 10 may include an arbitrary storage unit that can be configured by a semiconductor memory or the like as a storage unit necessary for the operation of the radar control unit 10.
  • the radar control unit 10 determines the frequency of the transmitted wave transmitted from the transmitting antenna 23.
  • the radar control unit 10 may determine the frequency of the transmitted wave transmitted from the transmitting antenna 23 based on the instruction from the ECU 50. The operation of the radar control unit 10 according to the embodiment will be further described later.
  • the frequency of the transmitted wave determined by the radar control unit 10 is input to the frequency synthesizer 12. Therefore, the radar control unit 10 may be connected to the frequency synthesizer 12. As shown in FIG. 2, the radar control unit 10 may be connected to the ECU 50. Further, as shown in FIG. 2, the radar control unit 10 may be connected to the transmission unit 20 and the reception unit 30.
  • the frequency synthesizer 12 generates a carrier wave of a required frequency based on the frequency determined by the radar control unit 10.
  • the frequency synthesizer 12 may be based on, for example, a general millimeter-wave radar technique.
  • the carrier signal generated by the frequency synthesizer 12 is supplied to the analog front end 40. Therefore, the frequency synthesizer 12 may be connected to the analog front end 40.
  • the transmission signal generation unit 21 generates a signal to be transmitted from the electronic device 1 (transmission antenna 23).
  • the transmission signal generation unit 21 may generate a transmission signal (transmission chirp signal) such as a chirp signal.
  • the transmission signal generation unit 21 may generate a signal (linear chirp signal) whose frequency changes linearly periodically.
  • the transmission signal generation unit 21 may generate a chirp signal (79 GHz band) whose frequency increases linearly periodically from 77 GHz to 81 GHz with the passage of time.
  • the transmission signal generation unit 21 may generate a signal in which the frequency periodically repeats linear increase (up chirp) and decrease (down chirp) from 77 GHz to 81 GHz with the passage of time.
  • the signal generated by the transmission signal generation unit 21 may be preset, for example, in the radar control unit 10. Since chirp signals used in technical fields such as radar are known, more detailed description will be simplified or omitted as appropriate.
  • the signal generated by the transmission signal generation unit 21 is supplied to the DAC 22. Therefore, the transmission signal generation unit 21 may be connected to the DAC 22.
  • the DAC 22 has a function of converting a digital signal supplied from a transmission signal generation unit 21 into an analog signal.
  • the DAC 22 may be configured to include a general digital-to-analog converter.
  • the signal analogized by the DAC 22 is supplied to the analog front end 40. Therefore, the DAC 22 may be connected to the analog front end 40.
  • the analog front end 40 generates a transmission wave to be transmitted from the electronic device 1 (transmission antenna 23) based on the transmission modulation wave generated by the transmission unit 20 and the carrier signal generated by the frequency synthesizer 12.
  • the analog front end 40 may be based on, for example, a general millimeter-wave radar technique.
  • the transmitted wave generated by the analog front end 40 is supplied to the transmitting antenna 23. Therefore, the analog front end 40 may be connected to the transmitting antenna 23.
  • the transmitting antenna 23 may be an antenna array in which a plurality of transmitting antennas are arranged in an array. In FIG. 2, the configuration of the transmitting antenna 23 is shown in a simplified manner.
  • the transmitting antenna 23 transmits the signal supplied from the analog front end 40 to the outside of the electronic device 1.
  • the transmitting antenna 23 may be configured to include a transmitting antenna array used in a general millimeter-wave radar.
  • the transmitting antenna 23a may correspond to, for example, transmitting radio waves in the 24 GHz band.
  • the transmitting antenna 23b may correspond to the transmission of radio waves in, for example, 77 GHz or 79 GHz band.
  • the transmitting antenna 23c may correspond to, for example, transmitting radio waves in the 140 GHz band.
  • the electronic device 1 is provided with the transmission antenna 23, and can transmit a transmission signal (for example, a transmission chirp signal) as a transmission wave from the transmission antenna 23.
  • a transmission signal for example, a transmission chirp signal
  • the receiving antenna 31 receives the reflected wave.
  • the reflected wave may be at least a part of the transmitted wave transmitted from the transmitting antenna 23 and reflected by the object 200.
  • the receiving antenna 31 may be an antenna array in which a plurality of receiving antennas are arranged in an array. In FIG. 2, the configuration of the receiving antenna 31 is shown in a simplified manner. The receiving antenna 31 receives the reflected wave in which the transmitted wave transmitted from the transmitting antenna 23 is reflected.
  • the receiving antenna 31 may be configured to include a receiving antenna array used in a general millimeter-wave radar.
  • the receiving antenna 31a may correspond to, for example, receiving radio waves in the 24 GHz band.
  • the receiving antenna 31b may correspond to reception of radio waves in, for example, 77 GHz or 79 GHz band.
  • the receiving antenna 31c may correspond to, for example, receiving radio waves in the 140 GHz band.
  • the receiving antenna 31 supplies the received signal received as a reflected wave to the analog front end 40. Therefore, the receiving antenna 31 may be connected to the analog front end 40.
  • the analog front end 40 described above generates a reception modulation signal based on the carrier signal generated by the frequency synthesizer 12 and the reflected wave received by the reception antenna 31.
  • the received modulation signal generated by the analog front end 40 is supplied to the ADC 32 and the noise power measuring unit 37. Therefore, the analog front end 40 may be connected to the ADC 32 of the receiving unit 30 and the noise power measuring unit 37.
  • the ADC (analog-to-digital converter) 32 has a function of converting an analog signal supplied from the analog front end 40 into a digital signal.
  • the ADC 32 may be configured to include a general analog-to-digital converter.
  • the signal digitized by the ADC 32 is supplied to the distance estimation unit 33 and the speed estimation unit 34. Therefore, the ADC 32 may be connected to the distance estimation unit 33 and the speed estimation unit 34.
  • the distance estimation unit 33 calculates the distance from the electronic device 1 to the object 200 based on the digital signal supplied from the ADC 32 (distance measurement). Further, the speed estimation unit 34 calculates the relative speed of the object 200 with respect to the electronic device 1 based on the digital signal supplied from the ADC 32 (speed measurement). The distance estimation result by the distance estimation unit 33 and the speed estimation result by the speed estimation unit 34 may be supplied to the angle estimation unit 35.
  • the angle estimation unit 35 calculates the azimuth angle (arrival angle) of the object 200 as seen from the electronic device 1 of the object 200 based on the distance estimation result by the distance estimation unit 33 and the speed estimation result by the speed estimation unit 34 (angle measurement). ). At least one of the distance estimation result by the distance estimation unit 33, the speed estimation result by the speed estimation unit 34, and the angle estimation result by the angle estimation unit 35 may be supplied to the clustering tracking processing unit 36.
  • the receiving unit 30 performs a fast Fourier transform (2D-FFT) in the distance (Range) direction and the velocity (Velocity) direction by inputting the I / Q converted data. After that, the receiving unit 30 suppresses false alarms and makes a constant probability by removing noise points by processing such as UART (Universal Asynchronous Receiver Transmitter) and / or CFAR (Constant False Alarm Rate). Then, the receiving unit 30 obtains the position of the object 200 by, for example, estimating the arrival angle with respect to a point satisfying the CFAR reference. The information (sensing result) generated as a result of distance measurement, speed measurement, and angle measurement by the receiving unit 30 may be output to the outside of the electronic device 1.
  • the distance estimation, speed estimation, and angle estimation in the electronic device 1 according to the embodiment may be based on, for example, a general millimeter-wave radar technique.
  • the sensor 5 may be configured to include an interface that outputs a processing result (sensing result) by the clustering tracking processing unit 36 to, for example, an external control unit.
  • the clustering tracking processing unit 36 may output at least one of the information on the position, speed, and angle of the object 200 to the outside of the sensor 5 as a signal such as CAN (Controller Area Network).
  • the sensing result output from the electronic device 1 according to the embodiment may be supplied to, for example, the ECU 50.
  • the ECU 50 included in the electronic device 1 can control the operation of the entire mobile body 100, including the control of each functional unit constituting the mobile body 100.
  • the ECU 50 may include at least one processor, such as a CPU (Central Processing Unit), in order to provide control and processing power to perform various functions.
  • the ECU 50 may be realized collectively by one processor, by several processors, or by individual processors.
  • the processor may be realized as a single integrated circuit.
  • the integrated circuit is also referred to as an IC (Integrated Circuit).
  • the processor may be realized as a plurality of communicably connected integrated circuits and discrete circuits.
  • the processor may be implemented on the basis of various other known techniques.
  • the ECU 50 may be configured as, for example, a CPU and a program executed by the CPU.
  • the ECU 50 may appropriately include any storage unit that may be configured by, for example, a semiconductor memory. Further, at least a part of the function of the radar control unit 10 may be a function of the ECU 50, or at least a part of the function of the ECU 50 may be a function of the radar control unit 10.
  • the electronic device 1 may include a transmitting antenna 23 for transmitting a transmitted wave and a receiving antenna 31 for receiving the reflected wave reflected by the transmitted wave.
  • the electronic device 1 according to the embodiment may detect an object based on a transmission signal transmitted as a transmission wave and a reception signal received as a reflected wave.
  • the noise power measuring unit 37 measures the noise power of the analog signal supplied from the analog front end 40.
  • the noise power measuring unit 37 may measure the power of noise in the radio wave received by the receiving antenna 31.
  • the noise power measuring unit 37 may measure the noise power of the signal received by the receiving antenna 31 when the transmitting wave is not transmitted from the transmitting antenna 23.
  • the noise power measuring unit 37 may measure the noise power of the signal received by the receiving antenna 31 at the timing when the transmission of the transmitted wave is not set in the frame of the transmitted wave.
  • the noise power information measured by the noise power measuring unit 37 may be supplied to, for example, the ECU 50. Therefore, as shown in FIG. 2, the noise power measuring unit 37 may be connected to the ECU 50.
  • the sensor 5 shown in FIG. 2 includes three pairs of a transmitting antenna 23 and a receiving antenna 31.
  • the sensor 5 may include one pair of the transmitting antenna 23 and the receiving antenna 31, or any plurality of pairs of the transmitting antenna 23 and the receiving antenna 31, as described later. May be good.
  • FIG. 3 is a functional block diagram schematically showing a configuration when the electronic device 1 according to the embodiment is installed in a mobile body 100 such as an automobile.
  • the electronic device 1 shown in FIG. 2 includes a sensor 5 and an ECU 50.
  • the sensor 5 and the ECU 50 shown in FIG. 3 may be the same as the sensor 5 and the ECU 50 shown in FIG. 2, respectively.
  • the position acquisition unit 60 and communication A unit 70 or the like may be provided.
  • the sensor 5 and the ECU 50 shown in FIG. 3 are as described in FIG.
  • the position acquisition unit 60 acquires information regarding the position where the position acquisition unit 60 exists.
  • the position where the position acquisition unit 60 exists may be, for example, the position of the sensor 5, the electronic device 1, or the moving body 100 such as an automobile.
  • the position acquisition unit 60 may acquire position information based on GNSS (Global Navigation Satellite System) technology or the like.
  • GNSS technology may include any satellite positioning system such as GPS (Global Positioning System), GLONASS, Galileo, and Quasi-Zenith Satellite (QZSS).
  • the position acquisition unit 60 may be a position information income device such as a GPS module.
  • the position acquisition unit 60 is not limited to the GPS module or the like, and may be configured by any device capable of acquiring information regarding the position.
  • the position information acquired by the position acquisition unit 60 may include, for example, at least one of latitude information, longitude information, and altitude information.
  • the position information acquired by the position acquisition unit 60 is supplied to the ECU 50. Based on the position information supplied from the position acquisition unit 60, the ECU 50 can grasp the current position of the electronic device 1 (or the sensor 5 or the moving body 100) and the like.
  • the communication unit 70 is an interface for communicating by wire or wirelessly.
  • the communication method performed by the communication unit 70 of one embodiment may be a wireless communication standard.
  • wireless communication standards include communication standards for cellular phones such as 2G, 3G, 4G, and 5G.
  • the communication standards for cellular phones are LTE (Long Term Evolution), W-CDMA (Wideband Code Division Multiple Access), CDMA2000, PDC (Personal Digital Cellular), GSM (registered trademark) (Global System for Mobile communications), and PHS. (Personal Handy-phone System) etc. are included.
  • wireless communication standards include WiMAX (Worldwide Interoperability for Microwave Access), 802.11, Bluetooth (registered trademark), Infrared Data Association (IrDA), NFC (Near Field Communication), and the like.
  • the communication unit 70 can support one or more of the above communication standards.
  • the communication unit 70 transmits / receives various data by performing wired communication and / or wireless communication with an information processing device such as an external server.
  • the communication performed by the communication unit 70 may be at least one of transmission and reception of various data.
  • the communication unit 70 can transmit, for example, the position of the electronic device 1 acquired by the position acquisition unit 60 to an information processing device such as an external server. Further, the communication unit 70 can transmit, for example, at least one of various information detected by the sensor 5 to an information processing device such as an external server. Further, the communication unit 70 can receive various information from an information processing device such as an external server.
  • FIG. 4 is a diagram schematically showing an example of the configuration of a system including the electronic device 1 according to the embodiment. As shown in FIG. 4, the system according to the embodiment includes an electronic device 1 and an information processing device 80.
  • an electronic device 1A including a sensor 5A is installed in the mobile body 100A.
  • An electronic device 1B including a sensor 5B is installed in the mobile body 100B.
  • An electronic device 1C including a sensor 5C is installed in the mobile body 100C.
  • moving body 100A, the moving body 100B, and the moving body 100C are not distinguished from each other, they are simply referred to as "moving body 100".
  • sensor 5A, the sensor 5B, and the sensor 5C are not distinguished from each other, it is simply referred to as "sensor 5".
  • the electronic device 1A, the electronic device 1B, and the electronic device 1C are not distinguished from each other, it is simply referred to as "electronic device 1".
  • the electronic device 1 may be the same as that described in FIGS. 2 and 3.
  • the system shown in FIG. 4 shows an example including three mobile bodies 100 in which the electronic device 1 is installed.
  • the system according to one embodiment may be configured to include at least one mobile body 100 in which the electronic device 1 is installed.
  • the electronic device 1 installed in each mobile body 100 can wirelessly communicate with the information processing device 80. Through such communication, various data can be exchanged between the electronic device 1 and the information processing device 80.
  • the information processing device 80 may be configured as an arbitrary information processing device (for example, a computer) such as various servers or cloud servers.
  • the electronic device 1 and the information processing device 80 may be connected to each other via, for example, a network.
  • the system shown in FIG. 4 shows an example including only one information processing apparatus 80. However, in the system according to one embodiment, two or more information processing devices 80 may be included. In this case, for example, the plurality of information processing devices 80 may be configured to be able to communicate with each other by wire and / or wirelessly.
  • FIG. 5 is a functional block diagram schematically showing the configuration of the information processing apparatus according to the embodiment.
  • FIG. 5 shows in more detail the configuration of an example of the information processing apparatus 80 shown in FIG.
  • the information processing apparatus 80 includes a control unit 82, a reception unit 84, a transmission unit 86, and a storage unit 88.
  • the control unit 82 includes at least one processor that controls and / or manages the entire information processing device 80, including each functional block of the information processing device 80.
  • the control unit 82 is configured to include at least one processor such as a CPU that executes a program that defines a control procedure, and realizes its function.
  • a program is stored in, for example, a storage unit 88, an external storage medium connected to the information processing device 80, or the like. The operation of the control unit 82 according to the embodiment will be further described later.
  • the receiving unit 84 may be configured to be able to receive various information from other devices by wire and / or wirelessly. For example, the receiving unit 84 may receive information based on the detection result by the sensor 5 of the electronic device 1 from the communication unit 70 of the electronic device 1 shown in FIG. Further, the receiving unit 84 may receive various information from an information processing device or the like other than the information processing device 80.
  • the transmission unit 86 may be configured to be able to transmit various information to other devices by wire and / or wirelessly. For example, the transmission unit 86 may transmit information based on the result of processing by the control unit 82 and / or information read from the storage unit 88 to the communication unit 70 of the electronic device 1 shown in FIG. Further, the transmission unit 86 may transmit various information to an information processing device or the like other than the information processing device 80.
  • the receiving unit 84 and / or the transmitting unit 86 is an interface for communicating by wire or wirelessly.
  • the communication method performed by the receiving unit 84 and / or the transmitting unit 86 of one embodiment may be a wireless communication standard.
  • wireless communication standards include communication standards for cellular phones such as 2G, 3G, 4G, and 5G.
  • the communication standards for cellular phones are LTE (Long Term Evolution), W-CDMA (Wideband Code Division Multiple Access), CDMA2000, PDC (Personal Digital Cellular), GSM (registered trademark) (Global System for Mobile communications), and PHS. (Personal Handy-phone System) etc. are included.
  • wireless communication standards include WiMAX (Worldwide Interoperability for Microwave Access), 802.11, Bluetooth (registered trademark), Infrared Data Association (IrDA), NFC (Near Field Communication), and the like.
  • WiMAX Worldwide Interoperability for Microwave Access
  • 802.11 Bluetooth
  • IrDA Infrared Data Association
  • NFC Near Field Communication
  • the receiving unit 84 and / or the transmitting unit 86 can support one or more of the above communication standards.
  • the storage unit 88 may store the program executed by the control unit 82, the result of the processing executed by the control unit 82, and the like. Further, the storage unit 88 may function as a work memory of the control unit 82.
  • the storage unit 88 can be configured by, for example, a semiconductor memory, a magnetic disk, or the like, but is not limited to these, and can be any storage device. Further, for example, the storage unit 88 may be a storage medium such as a memory card inserted in the electronic device 1 according to the present embodiment. Further, as described above, the storage unit 88 may be the internal memory of the CPU used as the control unit 82.
  • the electronic device 1 transmits information based on the detection result by the sensors 5 installed in each of the mobile bodies 100 traveling in various places to the information processing device 80. That is, in the system according to one embodiment, information based on the results detected by the sensor 5 of the electronic device 1 in various places is collected in the information processing apparatus 80.
  • Each position of the moving body 100 shown in FIG. 4 is schematically illustrated.
  • the plurality of moving bodies 100 may be located at arbitrary positions, may be close to each other, or may be different from each other. Further, each of the plurality of moving bodies 100 may be traveling at an arbitrary speed, or may be stopped or parked.
  • At least one of the electronic devices 1 shown in FIG. 4 may be capable of supporting a plurality of frequency bands (multiple segments of frequency) such as a 24 GHz band, a 77 GHz band, a 79 GHz band, and a 140 GHz band.
  • a plurality of frequency bands multiple segments of frequency
  • at least one of the electronic devices 1 shown in FIG. 4 may correspond to all of a plurality of frequency bands such as, for example, 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band, or may correspond to a plurality of frequency bands. It may correspond to at least two of.
  • the electronic device 1 corresponds to only one frequency band among a plurality of frequency bands (multiple segments of frequency) such as 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band. It may be possible.
  • the electronic device 1 transmits a transmitted wave in a predetermined frequency band and receives the reflected wave reflected by the transmitted wave. It may be possible.
  • the electronic device 1 reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave. The object may be detectable.
  • the electronic device 1 detects an object by transmitting and receiving radio waves in any frequency band of a plurality of segments, and includes information on noise power in the frequency band in exploration information to be an information processing device.
  • Send to 80 The information processing apparatus 80 according to the embodiment can collect information on noise power in a predetermined frequency band at each point by receiving exploration information from each of the electronic devices 1 existing at each point. Therefore, the information processing apparatus 80 according to the embodiment performs object detection in the frequency band where the noise power is relatively low for the electronic device 1 which detects the object in the frequency band where the noise power is relatively high. You may send the control information to control such as.
  • the information processing apparatus 80 controls the electronic device 1 that detects an object in a frequency band where the noise power is relatively low so as to continue the object detection in the frequency band. Information may be sent. Therefore, the electronic device 1 according to the embodiment makes it difficult to detect an object in a frequency band having a relatively high noise power. Therefore, according to the electronic device 1 according to the embodiment, the interference of the transmitted wave can be reduced. Hereinafter, such an operation will be described in more detail.
  • object detection is performed by transmitting and receiving radio waves, and information on noise power in the frequency band of the radio waves is included in the exploration information and transmitted to the information processing apparatus 80. The operation will be described.
  • the electronic device 1 may transmit the functional information of the own device to the information processing device 80 in advance or at an arbitrary timing.
  • the "functional information" of the electronic device 1 is, for example, a function of changing the frequency of radio waves for which the electronic device 1 detects an object by receiving control information from the information processing device 80. May include information indicating whether or not the device has.
  • the electronic device 1 can change the frequency of the radio wave for detecting an object by receiving control information from the information processing device 80.
  • this function is not provided, the electronic device 1 cannot change the frequency of the radio wave for detecting the object even if the control information is received from the information processing device 80.
  • the "functional information" of the electronic device 1 is, for example, a frequency band in which the radio wave can be changed (that is, can be supported) when the electronic device 1 has a function of changing the frequency of the radio wave for detecting an object. It may contain information to indicate.
  • the electronic device 1A shown in FIG. 4 does not have a function of changing the frequency of radio waves for detecting an object.
  • the electronic device 1A may transmit functional information indicating that it does not have the function of changing the frequency of the radio wave for detecting the object to the information processing apparatus 80.
  • the information processing apparatus 80 can avoid a situation in which the control information for controlling to change the frequency of the radio wave is transmitted to the electronic device 1A.
  • the electronic device 1B shown in FIG. 4 has a function of changing the frequency of the radio wave for detecting an object to the 77 GHz band and the 79 GHz band.
  • the electronic device 1B may transmit functional information indicating that it has a function of changing the frequency of the radio wave for detecting an object to the 77 GHz band and the 79 GHz band to the information processing apparatus 80.
  • the electronic device 1C shown in FIG. 4 has a function of changing the frequency of the radio wave for detecting an object to the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
  • the electronic device 1C transmits functional information indicating that it has a function of changing the frequency of the radio wave for detecting an object to the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band to the information processing apparatus 80. good.
  • Such functional information may be information unique to the specifications of each electronic device 1.
  • Each electronic device 1 may transmit such functional information to the information processing apparatus 80 in advance or at an arbitrary timing.
  • FIG. 6 is a flowchart illustrating the operation performed by the electronic device 1 in the system according to the embodiment.
  • FIG. 6 describes the operation of the electronic device 1 until the search information based on the transmission signal and the reception signal at the position of the electronic device 1 is transmitted to the information processing device 80.
  • the electronic device 1 may be mounted on the moving body 100, and the moving body 100 may be, for example, traveling or stopped on a roadway. Further, FIG. 6 may show the operation performed by the electronic device 1 mounted on any of the plurality of mobile bodies 100 as shown in FIG.
  • the electronic device 1 transmits a transmitted wave from the transmitting antenna 25 (step S1).
  • the transmitted wave transmitted by the electronic device 1 in step S1 may be, for example, the chirp signal described above.
  • the electronic device 1 may transmit a transmission signal as a transmission wave at a frequency in any of a plurality of segments.
  • the electronic device 1 may transmit a transmission signal at a frequency in any of the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band in step S1.
  • the electronic device 1 receives the reflected wave reflected by, for example, an object from the receiving antenna 31 (step S2).
  • a beat signal can be generated based on the transmission signal and the reception signal.
  • the electronic device 1 can determine that an object (reflecting object) that reflects the transmitted wave exists by performing a distance FFT process or the like on the beat signal. In this way, the electronic device 1 can detect an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected reflected wave reflected by the transmitted wave.
  • the electronic device 1 determines the noise level (noise power) of the signal based on the transmission signal and the reception signal, the detection object SNR (signal band noise ratio, signal quality), etc., that is, the noise level when detecting the object. You may.
  • the "noise level or detected object SNR or the like" determined in this case represents the noise level or detected object SNR or the like at the position of the electronic device 1 at that time.
  • Information such as the noise level or the detected object SNR determined in this way may be temporarily stored in a storage unit or the like, for example.
  • the electronic device 1 acquires the position information of the own device (electronic device 1, sensor 5, or moving body 100) from the position acquisition unit 60 (step S3).
  • the acquisition unit 60 may acquire the position by a satellite positioning system such as GPS.
  • the electronic device 1 acquires the search information based on the transmission signal and the reception signal at the position of the electronic device 1 (step S4).
  • the exploration information may be information related to the noise level of the signal based on the transmission signal and the reception signal, the detection object SNR (signal band noise ratio, signal quality), and the like, as described in step S2 above.
  • the exploration information may include at least one of these pieces of information.
  • the electronic device 1 may acquire the search information stored in the storage unit, for example.
  • the exploration information may be at least one of a transmission signal and a reception signal.
  • the electronic device 1 may use the strength of the received signal and / or the noise distribution related to the frequency of the received signal as search information.
  • step S4 After acquiring the exploration information in step S4, the electronic device 1 transmits the exploration information to the information processing apparatus 80 together with the position information acquired in step S3 (step S5).
  • step S5 the electronic device 1 may transmit from the communication unit 70 to the reception unit 84 of the information processing device 80.
  • the operation shown in FIG. 6 may be repeatedly executed, for example, at a predetermined timing or irregularly.
  • the electronic device 1 obtains search information based on a transmission signal transmitted at a frequency in any of a plurality of segments as a transmission wave and a reception signal received as a reflected wave in the information processing device 80.
  • the control for performing such transmission may be executed by, for example, the radar control unit 10 and / or the ECU 50.
  • the exploration information may include information regarding noise power when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1.
  • FIG. 6 may show the operation performed by the electronic device 1 mounted on any of the plurality of mobile bodies 100 shown in FIG. That is, the electronic devices 1 mounted on the plurality of mobile bodies 100 shown in FIG. 4 may perform the operations shown in FIG. 6 respectively.
  • the information processing apparatus 80 in the system according to the embodiment can collect the exploration information of each position at each time point by the electronic device 1 that communicates.
  • the information processing apparatus 80 can collect exploration information from an arbitrary number of electronic devices 1. Therefore, the information processing apparatus 80 can collect exploration information at various positions at each time point.
  • FIG. 7 is a flowchart illustrating the operation performed by the information processing apparatus 80 in the system according to the embodiment.
  • FIG. 7 describes an operation in which the information processing device 80 receives information from the electronic device 1 and processes the result until the information processing device 80 transmits the result to the electronic device 1.
  • the information processing apparatus 80 is in a state of being able to communicate with at least one electronic device 1.
  • FIG. 7 may show the operation performed by the information processing apparatus 80 as shown in FIG.
  • the receiving unit 84 of the information processing apparatus 80 receives exploration information from at least one electronic device 1 together with the position information of the electronic device 1 (step S11).
  • the exploration information received by the receiving unit 84 may be exploration information based on the transmission signal and the reception signal at the position of the at least one electronic device 1.
  • the information processing apparatus 80 may receive position information and exploration information from any number of electronic devices 1.
  • the information processing apparatus 80 may receive position information and exploration information from a large number of electronic devices 1 mounted on a mobile body 100 that is traveling or stopped at various locations.
  • the information processing apparatus 80 may receive exploration information from the electronic device 1 that makes the frequency at which the transmitted wave is transmitted variable in a plurality of segments.
  • the information processing apparatus 80 may receive search information from the electronic device 1 in which the frequency at which the transmitted wave is transmitted is not variable in a plurality of segments.
  • the position information and exploration information of the electronic device 1 received by the information processing device 80 (reception unit 84) in step S11 may be transmitted from the electronic device 1 (communication unit 70) in step S5 shown in FIG. .. That is, the exploration information received by the receiving unit 84 in step S11 may be information related to noise power when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1.
  • the position information and exploration information of the electronic device 1 received in step S11 may be stored in the storage unit 88 or the like.
  • the control unit 82 may store the search information at the position of the electronic device 1 in the storage unit 88 in association with the position information of the electronic device 1.
  • the information processing apparatus 80 can accumulate the respective position information and exploration information received from a large number of electronic devices 1 over a predetermined period. Therefore, the information processing apparatus 80 can construct a database of exploration information at each time point at each position.
  • control unit 82 virtually divides the map of a certain area into a mesh of, for example, several meters square, and stores the exploration information associated with the division in the storage unit 88 for each divided area. good.
  • the virtually divided area may be, for example, 1 meter square, several kilometers, or any size.
  • the shape of the virtually divided region is not limited to the mesh shape, and may be any shape such as a triangular shape or a honeycomb shape.
  • the control unit 82 may store the search information of the position associated with the division in the storage unit 88 at predetermined time intervals.
  • the control unit 82 outputs the exploration information at a predetermined time such as every 1 minute, every 3 minutes, every 5 minutes, every 10 minutes, or every 30 minutes at the position X1 (or the area X1). It may be accumulated in the storage unit 88.
  • the control unit 82 is set every hour at position X1 (or area X1), such as from 6:00 am to 7:00 am, from 7:00 am to 8:00 am, from 8:00 am to 9:00 am, and so on.
  • the exploration information may be stored in the storage unit 88. Further, for example, even if the control unit 82 stores the search information in the storage unit 88 every hour as described above, such as at the position X2 (or the area X2) and at the position X3 (or the area X3). good.
  • control unit 82 stores the search information in the storage unit 88 at each position (or area) not every hour but at a predetermined peak time time zone and / or a predetermined idle time time zone. It may be accumulated. Further, the control unit 82 may store exploration information in the storage unit 88 at each position (or area), for example, every day of the week, every day, or every month. Further, the control unit 82 may store exploration information in the storage unit 88 at each position (or region) for each season such as spring, summer, autumn, or winter. Further, the control unit 82 may store the exploration information in the storage unit 88 at each position (or area) according to the weather (that is, every time of fine weather or rainy weather). In addition, the control unit 82 may store exploration information in the storage unit 88 for each condition or situation.
  • the control unit 82 of the information processing apparatus 80 Upon receiving the position information and the exploration information of the electronic device 1 in step S11, the control unit 82 of the information processing apparatus 80 performs statistical processing on the exploration information (step S12).
  • the statistical processing of the exploration information performed by the control unit 82 may be, for example, a process of calculating an average value.
  • the control unit 82 may calculate the average value of the exploration information at each of the above-mentioned positions (or regions) for each of the above-mentioned time zones.
  • the statistically processed exploration information by the control unit 82 is hereinafter referred to as “statistical information”.
  • the exploration information is information about the noise level when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1
  • the statistical information is the average of the time zone at that position when using the frequency. It is information indicating a typical noise level.
  • a processing for calculating the median value, the mode value, or the like may be used in addition to the processing for calculating the average value.
  • control unit 82 When the statistical information is generated in step S12, the control unit 82 generates control information for each electronic device 1 (step S13).
  • control information may include information that controls the frequency at which the electronic device 1 transmits the transmitted wave to any of a plurality of segments.
  • the electronic device 1C shown in FIG. 4 performs object detection by transmitting and receiving radio waves having a frequency in the 77 GHz band at a position X1 (or a region X1). Then, according to the statistical information generated by the information processing apparatus 80 in step S12, it is assumed that the noise power is relatively large in the 77 GHz band, for example, at the position X1 (or the region X1).
  • the control unit 82 may generate control information for transmitting and receiving radio waves having a frequency in a segment other than the 77 GHz band (for example, the 140 GHz band) at the position X1 (or region X1) (step S13).
  • the electronic device 1C shown in FIG. 4 performs object detection by transmitting and receiving radio waves having a frequency in the 77 GHz band at the position X1 (or region X1). Then, according to the statistical information generated by the information processing apparatus 80 in step S12, it is assumed that the noise power is relatively small in the 77 GHz band, for example, at the position X1 (or the region X1).
  • the control unit 82 may generate control information for maintaining transmission / reception of radio waves in the 77 GHz band, for example, at the position X1 (or region X1) (step S13).
  • FIG. 8 is a diagram illustrating an example of noise power in a frequency segment of a radio wave transmitted and / or received by an electronic device 1 according to an embodiment at a predetermined position.
  • the horizontal axis indicates the frequency (segment) of the radio wave transmitted and / or received
  • the vertical axis indicates the noise power at each frequency.
  • the electronic device 1 divides the frequency band into four segments, for example, 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band, and transmits and / or receives radio waves. It may be possible.
  • the noise power measuring unit 37 when the noise power measuring unit 37 receives radio waves in four segments as shown in FIG. 8, the noise power measuring unit 37 can measure the noise power in each segment.
  • the noise power in the 77 GHz band segment is the lowest as shown in FIG.
  • the noise power in the 24 GHz band segment and the 140 GHz band segment is higher than the noise power in the 77 GHz band segment and lower than the noise power in the 79 GHz band segment.
  • the noise power in the 79 GHz band segment is the highest among the four segments 24 GHz band to 140 GHz band.
  • the noise power information of each segment measured by the noise power measuring unit 37 in this way is included in the exploration information and transmitted to the information processing apparatus 80.
  • the radio waves interfere with each other. Increases the risk of doing so. In such a situation, it is assumed that the accuracy with which the electronic device 1 detects an object deteriorates. Therefore, for example, in the situation shown in FIG. 8, the number of electronic devices 1 that transmit and receive radio waves using a frequency in the 79 GHz band may not be increased from the present. Further, in the situation shown in FIG.
  • At least one of the electronic devices 1 that transmit and receive radio waves using the frequency of the 79 GHz band transmits and receives radio waves using a frequency other than the 79 GHz band. good. That is, at least one of the electronic devices 1 that transmit and receive radio waves using the frequency in the 79 GHz band may change the frequency of the radio waves transmitted and received. In this case, for example, in the situation shown in FIG. 8, for example, the number of electronic devices 1 that transmit and receive radio waves may be increased by using a frequency in the 77 GHz band having relatively low noise power.
  • control unit 82 of the information processing apparatus 80 causes a relatively large number of electronic devices 1 to transmit and receive radio waves in the predetermined frequency band at a position where the noise power in the predetermined frequency band is relatively small. You may control it.
  • control unit 82 of the information processing apparatus 80 controls so that a relatively small number of electronic devices 1 transmit and receive radio waves in the predetermined frequency band at a position where the noise power in the predetermined frequency band is relatively large. good.
  • the control unit 82 of the information processing device 80 detects an object at the frequency of the transmitted wave as the noise power of the plurality of segments of the frequency is smaller.
  • the number of electronic devices 1 may be increased.
  • the control unit 82 of the information processing apparatus 80 transmits / receives radio waves in a plurality of segments of the frequency band, the control unit 82 detects an object at the frequency of the transmitted wave in the segment having the smallest noise power among the plurality of segments of the frequency.
  • the number of electronic devices 1 to be used may be the largest.
  • the control unit 82 of the information processing device 80 detects an object at the frequency of the transmitted wave as the noise power of the plurality of segments of the frequency is larger.
  • the number of electronic devices 1 may be reduced.
  • the control unit 82 of the information processing device 80 transmits / receives radio waves in a plurality of segments of the frequency band, the control unit 82 detects an object at the frequency of the transmitted wave in the segment having the largest noise power among the plurality of segments of the frequency. The number of the electronic devices to be used may be minimized.
  • the control unit 82 of the information processing apparatus 80 transmits the generated control information to the electronic device 1 (step S14).
  • the control unit 82 may transmit the control information at the predetermined position generated according to the statistical information to the electronic device 1 existing at the predetermined position or near the predetermined position. Further, in step S14, the control unit 82 may return the control information generated via the statistical information based on the exploration information to the electronic device 1 that has transmitted the exploration information. Further, in step S14, the control unit 82 may transmit the control information only to the electronic device 1 that has transmitted the functional information indicating that it has the function of changing the frequency of the radio wave for detecting the object. Further, in step S14, the control unit 82 transmits the control information to the electronic device 1 only when the functional information indicates that the electronic device 1 can correspond to the frequency controlled by the control information. May be good.
  • the operation shown in FIG. 7 may be repeatedly executed, for example, at a predetermined timing or irregularly. In this way, the statistical information and the control information can be updated to the latest contents.
  • the information processing device 80 communicates with the electronic device 1.
  • the electronic device 1 detects an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave reflected by the transmitted wave. do. Further, the electronic device 1 may make the frequency at which the transmitted wave is transmitted variable in a plurality of segments.
  • the information processing apparatus 80 includes a receiving unit 84, a control unit 82, and a transmitting unit 86.
  • the reception unit 84 receives the position information of the electronic device 1 as well as the search information based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave from the electronic device 1.
  • the control unit 82 statistically processes the exploration information at the position of the electronic device 1 to generate statistical information, and generates control information for controlling the electronic device 1 according to the statistical information.
  • the transmission unit 86 transmits the control information generated by the control unit 82 to the electronic device 1.
  • the exploration information may include information on noise power when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1.
  • the control information may include information for controlling the frequency at which the electronic device 1 transmits the transmitted wave to any of a plurality of segments.
  • FIG. 9 is a flowchart illustrating the operation performed by the electronic device 1 in the system according to the embodiment.
  • FIG. 9 may be a flowchart illustrating the operation performed by the electronic device 1 after the information processing apparatus 80 performs the operation shown in FIG. 7 in the system according to the embodiment.
  • FIG. 9 describes an operation in which the electronic device 1 receives the generated control information from the information processing apparatus 80 and detects an object based on the generated control information.
  • FIG. 9 may show the operation performed by the electronic device 1 mounted on the mobile body 100 as shown in FIG. Further, when the operation shown in FIG. 9 starts, it is assumed that at least one electronic device 1 is in a state of being able to communicate with the information processing device 80. Further, in the electronic device 1 named in the following column, it is assumed that the frequency at which the transmitted wave is transmitted is variable in a plurality of segments.
  • the communication unit 70 of the electronic device 1 receives the generated control information from the transmission unit 86 of the information processing device 80 (step S21).
  • the control information received by the communication unit 70 in step S21 may be the control information transmitted from the information processing apparatus 80 in step S14 shown in FIG.
  • the electronic device 1 may receive the control information generated corresponding to the position (or area) of the electronic device 1. Further, in step S21, the electronic device 1 may receive the control information generated corresponding to the time zone including the current time.
  • the radar control unit 10 of the electronic device 1 Upon receiving the control information in step S21, the radar control unit 10 of the electronic device 1 transmits a transmission wave based on the control information from the transmission antenna 25 (step S22).
  • the radar control unit 10 may transmit a transmitted wave from the transmitting antenna 25 at a frequency based on the control information received from the information processing device 80. For example, when the control information includes information related to control for transmitting a transmitted wave of a frequency different from the frequency transmitted so far, the radar control unit 10 transmits the transmitted wave of the other frequency to the transmitting antenna. It may be transmitted from 25. Further, for example, when the control information includes information related to the control for maintaining the frequency transmitted so far, the radar control unit 10 may transmit the transmitted wave of the frequency from the transmitting antenna 25.
  • the operation shown in step S22 may be executed in the same manner as the operation shown in step S1 shown in FIG.
  • step S22 When the transmitted wave is transmitted in step S22, the electronic device 1 receives the reflected wave reflected by, for example, an object from the receiving antenna 31 (step S23).
  • the operation shown in step S23 may be executed in the same manner as the operation of step S2 shown in FIG.
  • the electronic device 1 detects an object that reflects the transmitted wave based on the transmitted signal and the received signal (step S24).
  • the operation shown in FIG. 9 may be repeatedly executed, for example, at a predetermined timing or irregularly.
  • the electronic device 1 may make the frequency at which the transmitted wave is transmitted variable in a plurality of segments. Further, the electronic device 1 detects an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Further, the electronic device 1 may transmit a transmitted wave from the transmitting antenna 25 at a frequency based on the control information received from the information processing device 80. Such control may be executed by, for example, the radar control unit 10 and / or the ECU 50.
  • the control information may include information regarding control for transmitting a transmitted wave at a frequency in any of a plurality of segments.
  • the frequency of the radio wave used by the electronic device 1 for object detection is set based on the information supplied from the information processing device 80. Further, when the noise power in the frequency band of the radio wave used by the electronic device 1 is relatively large, the information processing device 80 according to the embodiment controls information so that the electronic device 1 uses the radio wave in another frequency band. To send. Therefore, according to the electronic device 1 and the information processing device 80 according to the embodiment, the transmitted wave is less likely to interfere.
  • the electronic device 1 has been described as being capable of corresponding to a plurality of segments of frequencies such as 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
  • a plurality of segments of frequencies such as 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
  • such an operation of the electronic device 1 can also be described as an inter-band operation or an inter-band operation.
  • the electronic device 1 may be capable of supporting a plurality of segments in which a specific frequency band is divided, for example, the 24 GHz band.
  • such an operation of the electronic device 1 can also be described as an intra-band operation or an in-band operation.
  • the plurality of segments of the frequency for transmitting the transmitted wave may belong to any of a plurality of different frequency bands, and may be divided into segments in each of the plurality of different frequency bands.
  • an operation of the electronic device 1 can also be described as a hybrid type operation of an intra-band operation and an inter-band operation.
  • each functional unit, each means, each step, etc. are added to other embodiments so as not to be logically inconsistent, or each functional unit, each means, each step, etc. of another embodiment, etc. Can be replaced with. Further, in each embodiment, it is possible to combine or divide a plurality of each functional unit, each means, each step, and the like into one. Further, each of the above-described embodiments of the present disclosure is not limited to faithful implementation of each of the embodiments described above, and each of the features may be combined or partially omitted as appropriate. You can also do it.
  • the above-described embodiment is not limited to the implementation as the electronic device 1 and the information processing device 80.
  • the above-described embodiment may be implemented as a control method for a device such as the electronic device 1 and / or the information processing device 80.
  • the above-described embodiment may be implemented as a program executed by a device such as the electronic device 1 and / or the information processing device 80.
  • the plurality of segments of the frequency for transmitting the transmitted wave may be included in at least one of the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
  • the plurality of segments of the frequency at which the transmitted wave is transmitted may be included in a frequency band other than the frequency band described above.

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Abstract

This electronic apparatus comprises a transmission antenna for transmitting a transmission wave, and a reception antenna for receiving a reflected wave in which the transmission wave is reflected. The electronic apparatus makes the frequency at which the transmission wave is transmitted variable in a plurality of segments, and detects an object reflecting the transmission wave on the basis of a transmission signal transmitted as the transmission wave and a reception signal received as the reflected wave. The electronic apparatus transmits, to an information processing device, position information about the electronic apparatus and search information that is based on the transmission signal transmitted as the transmission wave at the aforementioned frequency in any of the plurality of segments, and on the reception signal received as the reflected wave.

Description

電子機器及び情報処理装置、これらの制御方法、並びにプログラムElectronic devices and information processing devices, their control methods, and programs 関連出願の相互参照Cross-reference of related applications
　本出願は、２０２０年１０月２６日に日本国に特許出願された特願２０２０－１７９２５５の優先権を主張するものであり、この先の出願の開示全体を、ここに参照のために取り込む。 This application claims the priority of Japanese Patent Application No. 2020-179255, which was filed in Japan on October 26, 2020, and the entire disclosure of future applications is incorporated herein by reference.
　本開示は、電子機器及び情報処理装置、これらの制御方法、並びにプログラムに関する。 This disclosure relates to electronic devices and information processing devices, their control methods, and programs.
　例えば自動車に関連する産業などの分野において、自車両と所定の物体との間の距離などを測定する技術が重要視されている。特に、近年、ミリ波のような電波を送信し、障害物などの物体に反射した反射波を受信することで、物体との間の距離などを測定するレーダ（RADAR（Radio Detecting and Ranging））の技術が、種々研究されている。このような距離などを測定する技術の重要性は、運転者の運転をアシストする技術、及び、運転の一部又は全部を自動化する自動運転に関連する技術の発展に伴い、今後ますます高まると予想される。 For example, in fields such as industries related to automobiles, the technique of measuring the distance between the own vehicle and a predetermined object is regarded as important. In particular, in recent years, radar (RADAR (Radio Detecting and Ringing)) measures the distance between an object by transmitting radio waves such as millimeter waves and receiving the reflected wave reflected by an object such as an obstacle. Techniques have been studied in various ways. The importance of such technology for measuring distances will increase in the future with the development of technology that assists the driver's driving and technology related to automated driving that automates part or all of the driving. is expected.
　上述のような、電波の送受信によって物体を検出する技術が普及すると、多数の機器からそれぞれ送信される電波が干渉するため、各機器が物体を検出する性能が弱まることも想定される。このような事態に対応し得る提案も、いくつかなされている。例えば、特許文献１は、自機器のレーダと他のレーダとのアンテナの角度によって干渉が生じる場合に、自機器のレーダ装置の送信又は受信を停止することにより、電波干渉を回避することを提案している。また、特許文献２は、複数のレーダ相互間において情報を共有することで、互いに異なる周波数ホッピングのパターンを設定することにより、電波干渉を回避することを提案している。 If the technology for detecting an object by transmitting and receiving radio waves as described above becomes widespread, it is expected that the performance of each device to detect an object will be weakened because the radio waves transmitted from a large number of devices interfere with each other. Some proposals have been made to deal with this situation. For example, Patent Document 1 proposes to avoid radio wave interference by stopping transmission or reception of the radar device of the own device when interference occurs due to the angle of the antenna between the radar of the own device and another radar. are doing. Further, Patent Document 2 proposes to avoid radio wave interference by setting different frequency hopping patterns by sharing information between a plurality of radars.
特開２００２－１５６４４２号公報Japanese Unexamined Patent Publication No. 2002-156442 特開２００５－１９５４５０号公報Japanese Unexamined Patent Publication No. 2005-195450
　一実施形態に係る電子機器は、
　送信波を送信する送信アンテナと、
　前記送信波が反射された反射波を受信する受信アンテナと、
　を備える。
　前記電子機器は、前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する。
　前記電子機器は、前記電子機器の位置情報とともに、前記送信波として前記複数のセグメントのいずれかにおける周波数で送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、情報処理装置に送信する。 The electronic device according to one embodiment is
The transmitting antenna that transmits the transmitted wave and
A receiving antenna that receives the reflected wave reflected by the transmitted wave, and
To prepare for.
The electronic device makes the frequency at which the transmitted wave is transmitted variable in a plurality of segments, and makes the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Detects reflecting objects.
The electronic device processes information processing based on the position information of the electronic device, a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave, and a reception signal received as the reflected wave. Send to the device.
　また、一実施形態に係る電子機器、
　送信波を送信する送信アンテナと、
　前記送信波が反射された反射波を受信する受信アンテナと、
　を備える。
　前記電子機器は、前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する。
　前記電子機器は、前記送信波を、情報処理装置から受信した制御情報に基づく周波数で、前記送信アンテナから送信する。 In addition, the electronic device according to the embodiment,
The transmitting antenna that transmits the transmitted wave and
A receiving antenna that receives the reflected wave reflected by the transmitted wave, and
To prepare for.
The electronic device makes the frequency at which the transmitted wave is transmitted variable in a plurality of segments, and makes the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Detects reflecting objects.
The electronic device transmits the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device.
　また、一実施形態に係る情報処理装置は、
　送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器と通信する。
　前記情報処理装置は、
　前記電子機器の位置情報とともに、前記送信波として送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、前記電子機器から受信する受信部と、
　前記電子機器の位置における前記探査情報を統計処理して統計情報を生成し、前記電子機器を制御する制御情報を前記統計情報に応じて生成する制御部と、
　前記制御部によって生成された前記制御情報を、前記電子機器に送信する送信部と、
　を備える。 Further, the information processing apparatus according to the embodiment is
Based on the transmission signal transmitted as a transmission wave and the reception signal received as a reflected wave reflected by the transmission wave, it communicates with an electronic device that detects an object that reflects the transmission wave.
The information processing device is
A receiving unit that receives the search information based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device from the electronic device.
A control unit that statistically processes the exploration information at the position of the electronic device to generate statistical information, and generates control information for controlling the electronic device according to the statistical information.
A transmission unit that transmits the control information generated by the control unit to the electronic device, and a transmission unit.
To prepare for.
　一実施形態に係る電子機器の制御方法は、
　送信波を送信アンテナによって送信するステップと、
　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を電子機器によって検出するステップと、
　前記電子機器の位置情報とともに、前記送信波として前記複数のセグメントのいずれかにおける周波数で送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、情報処理装置に送信するステップと、
　を含む。 The method for controlling an electronic device according to an embodiment is as follows.
The step of transmitting the transmitted wave by the transmitting antenna and
The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and
A step of transmitting search information based on a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave and a reception signal received as the reflected wave as the transmission wave to the information processing apparatus together with the position information of the electronic device. When,
including.
　また、一実施形態に係る電子機器の制御方法は、
　送信波を送信アンテナによって送信するステップと、
　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を電子機器によって検出するステップと、
　前記送信波を、情報処理装置から受信した制御情報に基づく周波数で、前記送信アンテナから送信するステップと、
　を含む。 Further, the control method of the electronic device according to the embodiment is as follows.
The step of transmitting the transmitted wave by the transmitting antenna and
The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and
A step of transmitting the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device.
including.
　また、一実施形態に係る情報処理装置の制御方法は、
　送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器と通信する情報処理装置の制御方法であって、
　前記電子機器の位置情報とともに、前記送信波として送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、前記電子機器から受信するステップと、
　前記電子機器の位置における前記探査情報を統計処理して統計情報を生成し、前記電子機器を制御する制御情報を前記統計情報に応じて生成するステップと、
　前記制御部によって生成された前記制御情報を、前記電子機器に送信するステップと、
　を含む。 Further, the control method of the information processing apparatus according to the embodiment is as follows.
A control method for an information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave reflected by the transmitted wave. There,
A step of receiving search information from the electronic device based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device.
A step of statistically processing the exploration information at the position of the electronic device to generate statistical information, and generating control information for controlling the electronic device according to the statistical information.
A step of transmitting the control information generated by the control unit to the electronic device, and
including.
　一実施形態に係るプログラムは、
　電子機器に、
　送信波を送信アンテナによって送信するステップと、
　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出するステップと、
　前記電子機器の位置情報とともに、前記送信波として前記複数のセグメントのいずれかにおける周波数で送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、情報処理装置に送信するステップと、
　を実行させる。 The program according to one embodiment is
For electronic devices
The step of transmitting the transmitted wave by the transmitting antenna and
The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is detected based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps to do and
A step of transmitting search information based on a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave and a reception signal received as the reflected wave as the transmission wave to the information processing apparatus together with the position information of the electronic device. When,
To execute.
　また、一実施形態に係るプログラムは、
　電子機器に、
　送信波を送信アンテナによって送信するステップと、
　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を電子機器によって検出するステップと、
　前記送信波を、情報処理装置から受信した制御情報に基づく周波数で、前記送信アンテナから送信するステップと、
　を実行させる。 In addition, the program according to one embodiment is
For electronic devices
The step of transmitting the transmitted wave by the transmitting antenna and
The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and
A step of transmitting the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device.
To execute.
　また、一実施形態に係るプログラムは、
　送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器と通信する情報処理装置に、
　前記電子機器の位置情報とともに、前記送信波として送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、前記電子機器から受信するステップと、
　前記電子機器の位置における前記探査情報を統計処理して統計情報を生成し、前記電子機器を制御する制御情報を前記統計情報に応じて生成するステップと、
　前記制御部によって生成された前記制御情報を、前記電子機器に送信するステップと、
　を実行させる。 In addition, the program according to one embodiment is
An information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave reflected by the transmitted wave.
A step of receiving search information from the electronic device based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device.
A step of statistically processing the exploration information at the position of the electronic device to generate statistical information, and generating control information for controlling the electronic device according to the statistical information.
A step of transmitting the control information generated by the control unit to the electronic device, and
To execute.
一実施形態に係る電子機器の使用態様を説明する図である。It is a figure explaining the usage mode of the electronic device which concerns on one Embodiment. 一実施形態に係る電子機器の構成を概略的に示す機能ブロック図である。It is a functional block diagram which shows schematic structure of the electronic device which concerns on one Embodiment. 一実施形態に係る電子機器の構成を概略的に示す機能ブロック図である。It is a functional block diagram which shows schematic structure of the electronic device which concerns on one Embodiment. 一実施形態に係るシステムの構成を概略的に示す図である。It is a figure which shows roughly the structure of the system which concerns on one Embodiment. 一実施形態に係る情報処理装置の構成を概略的に示す機能ブロック図である。It is a functional block diagram which shows schematic structure of the information processing apparatus which concerns on one Embodiment. 一実施形態に係る電子機器の動作を説明するフローチャートである。It is a flowchart explaining the operation of the electronic device which concerns on one Embodiment. 一実施形態に係る情報処理装置の動作を説明するフローチャートである。It is a flowchart explaining the operation of the information processing apparatus which concerns on one Embodiment. 一実施形態に係る情報処理装置が受信する探査情報に基づくノイズ電力の例を示す図である。It is a figure which shows the example of the noise power based on the exploration information received by the information processing apparatus which concerns on one Embodiment. 一実施形態に係る電子機器の動作を説明するフローチャートである。It is a flowchart explaining the operation of the electronic device which concerns on one Embodiment.
　送信された送信波が所定の物体に反射した反射波を受信することにより、当該物体を検出する技術において、送信波の干渉を低減することが望ましい。本開示の目的は、送信された送信波が所定の物体に反射した反射波を受信することにより、当該物体を検出する技術において、送信波の干渉を低減し得る電子機器及び情報処理装置、これらの制御方法、並びにプログラムを提供することにある。一実施形態によれば、送信された送信波が所定の物体に反射した反射波を受信することにより、当該物体を検出する技術において、送信波の干渉を低減し得る電子機器及び情報処理装置、これらの制御方法、並びにプログラムを提供することができる。以下、一実施形態について、図面を参照して詳細に説明する。 It is desirable to reduce the interference of the transmitted wave in the technique of detecting the object by receiving the reflected wave reflected by the transmitted transmitted wave on the predetermined object. An object of the present disclosure is an electronic device and an information processing apparatus capable of reducing interference of a transmitted wave in a technique for detecting a predetermined object by receiving the reflected wave reflected by the transmitted transmitted wave on the object. It is to provide a control method as well as a program. According to one embodiment, an electronic device and an information processing apparatus capable of reducing interference of a transmitted wave in a technique for detecting a predetermined object by receiving the reflected wave reflected by the transmitted transmitted wave. These control methods as well as programs can be provided. Hereinafter, one embodiment will be described in detail with reference to the drawings.
　一実施形態に係る電子機器は、例えば自動車などのような乗り物（移動体）に搭載されることで、当該移動体の周囲に存在する所定の物体を検出することができる。このために、一実施形態に係る電子機器は、移動体に設置した送信アンテナから、移動体の周囲に送信波を送信することができる。また、一実施形態に係る電子機器は、移動体に設置した受信アンテナから、送信波が反射された反射波を受信することができる。送信アンテナ及び受信アンテナの少なくとも一方は、例えば移動体に設置されたレーダセンサ等に備えられてもよい。 The electronic device according to the embodiment can detect a predetermined object existing around the moving body by being mounted on a vehicle (moving body) such as an automobile. Therefore, the electronic device according to the embodiment can transmit a transmitted wave around the moving body from the transmitting antenna installed on the moving body. Further, the electronic device according to the embodiment can receive the reflected wave in which the transmitted wave is reflected from the receiving antenna installed in the moving body. At least one of the transmitting antenna and the receiving antenna may be provided in, for example, a radar sensor installed in a moving body.
　以下、典型的な例として、一実施形態に係る電子機器が、乗用車のような自動車に搭載される構成について説明する。しかしながら、一実施形態に係る電子機器が搭載されるのは、自動車に限定されない。一実施形態に係る電子機器は、自動運転自動車、バス、タクシー、トラック、オートバイ、自転車、船舶、航空機、ヘリコプター、トラクターなどの農作業装置、除雪車、清掃車、パトカー、救急車、及びドローンなど、種々の移動体に搭載されてよい。また、一実施形態に係る電子機器が搭載されるのは、必ずしも自らの動力で移動する移動体にも限定されない。例えば、一実施形態に係る電子機器が搭載される移動体は、トラクターにけん引されるトレーラー部分などとしてもよい。一実施形態に係る電子機器は、センサ及び所定の物体の少なくとも一方が移動し得るような状況において、センサと物体との間の距離などを測定することができる。また、一実施形態に係る電子機器は、センサ及び物体の双方が静止していても、センサと物体との間の距離などを測定することができる。 Hereinafter, as a typical example, a configuration in which an electronic device according to an embodiment is mounted on an automobile such as a passenger car will be described. However, the electronic device according to the embodiment is not limited to the automobile. The electronic devices according to the embodiment include various types of electronic devices such as self-driving automobiles, buses, taxis, trucks, motorcycles, bicycles, ships, aircraft, helicopters, tractors and other agricultural work equipment, snow removal vehicles, cleaning vehicles, police cars, ambulances, and drones. It may be mounted on a moving body of. Further, the electronic device according to the embodiment is not necessarily limited to a moving body that moves by its own power. For example, the moving body on which the electronic device according to the embodiment is mounted may be a trailer portion towed by a tractor. The electronic device according to one embodiment can measure the distance between the sensor and the object in a situation where at least one of the sensor and a predetermined object can move. Further, the electronic device according to the embodiment can measure the distance between the sensor and the object even if both the sensor and the object are stationary.
　また、本開示に含まれる自動車は、全長、全幅、全高、排気量、定員、積載量などで限定されるものではない。例えば、本開示の自働車には、排気量が６６０ｃｃより大きい自動車、及び、排気量が６６０ｃｃ以下の自動車、いわゆる軽自動車なども含まれる。また、本開示に含まれる自動車は、いわゆるガソリン車に限定されない。本開示の自働車には、エネルギーの一部若しくは全部が電気を利用し、モータの動力を利用する自動車も含まれる。 Further, the automobiles included in this disclosure are not limited by the total length, the total width, the total height, the displacement, the capacity, the load capacity, and the like. For example, the self-driving vehicle of the present disclosure includes a vehicle having a displacement of more than 660 cc, a vehicle having a displacement of 660 cc or less, a so-called light vehicle, and the like. Further, the automobile included in the present disclosure is not limited to a so-called gasoline-powered vehicle. The self-driving vehicle of the present disclosure also includes a vehicle in which part or all of the energy uses electricity and the power of a motor is used.
　まず、一実施形態に係る電子機器による物体の検出の例を説明する。 First, an example of object detection by an electronic device according to an embodiment will be described.
　図１は、一実施形態に係る電子機器の使用態様を説明する図である。図１は、一実施形態に係る送信アンテナ及び受信アンテナを備えるセンサを、移動体に設置した例を示している。 FIG. 1 is a diagram illustrating a usage mode of an electronic device according to an embodiment. FIG. 1 shows an example in which a sensor including a transmitting antenna and a receiving antenna according to an embodiment is installed in a moving body.
　図１に示す移動体１００には、一実施形態に係る送信アンテナ及び受信アンテナを備えるセンサ５が設置されている。また、図１に示す移動体１００は、一実施形態に係る電子機器１を搭載（例えば内蔵）していてもよい。電子機器１の具体的な構成については後述する。センサ５は、例えば送信アンテナ及び受信アンテナの少なくとも一方を備えるものとしてよい。また、センサ５は、電子機器１に含まれるレーダ制御部１０（図２）の少なくとも一部など、他の機能部の少なくともいずれかを、適宜含んでもよい。図１に示す移動体１００は、乗用車のような自動車の車両としてよいが、任意のタイプの移動体としてよい。図１において、移動体１００は、例えば図に示すＹ軸正方向（進行方向）に移動（走行又は徐行）していてもよいし、他の方向に移動していてもよいし、また移動せずに静止していてもよい。 The mobile body 100 shown in FIG. 1 is provided with a sensor 5 including a transmitting antenna and a receiving antenna according to the embodiment. Further, the mobile body 100 shown in FIG. 1 may be equipped with (for example, built-in) the electronic device 1 according to the embodiment. The specific configuration of the electronic device 1 will be described later. The sensor 5 may include, for example, at least one of a transmitting antenna and a receiving antenna. Further, the sensor 5 may appropriately include at least one of other functional units such as at least a part of the radar control unit 10 (FIG. 2) included in the electronic device 1. The moving body 100 shown in FIG. 1 may be an automobile vehicle such as a passenger car, but may be any type of moving body. In FIG. 1, the moving body 100 may, for example, move (run or slow) in the positive direction (traveling direction) of the Y axis shown in the figure, move in another direction, or move. It may be stationary without.
　図１に示すように、移動体１００には、送信アンテナを備えるセンサ５が設置されている。図１に示す例において、送信アンテナ及び受信アンテナを備えるセンサ５は、移動体１００の前方に１つだけ設置されている。ここで、センサ５が移動体１００に設置される位置は、図１に示す位置に限定されるものではなく、適宜、他の位置としてもよい。例えば、図１に示すようなセンサ５を、移動体１００の左側、右側、及び／又は、後方などに設置してもよい。また、このようなセンサ５の個数は、移動体１００における測定の範囲及び／又は精度など各種の条件（又は要求）に応じて、１つ以上の任意の数としてよい。センサ５は、移動体１００の内部に設置されているとしてもよい。移動体１００の内部とは、例えばバンパー内の空間、ボディ内の空間、ヘッドライト内の空間、又は運転スペースの空間などでよい。 As shown in FIG. 1, a sensor 5 provided with a transmitting antenna is installed in the mobile body 100. In the example shown in FIG. 1, only one sensor 5 including a transmitting antenna and a receiving antenna is installed in front of the mobile body 100. Here, the position where the sensor 5 is installed on the moving body 100 is not limited to the position shown in FIG. 1, and may be another position as appropriate. For example, the sensor 5 as shown in FIG. 1 may be installed on the left side, the right side, and / or the rear of the moving body 100. Further, the number of such sensors 5 may be any one or more depending on various conditions (or requirements) such as the range and / or accuracy of measurement in the moving body 100. The sensor 5 may be installed inside the moving body 100. The inside of the moving body 100 may be, for example, a space inside a bumper, a space inside a body, a space inside a headlight, a space inside a driving space, or the like.
　センサ５は、送信アンテナから送信波として電磁波を送信する。例えば移動体１００の周囲に所定の物体（例えば図１に示す物体２００）が存在する場合、センサ５から送信された送信波の少なくとも一部は、当該物体によって反射されて反射波となる。そして、このような反射波を例えばセンサ５の受信アンテナによって受信することにより、移動体１００に搭載された電子機器１は、当該物体を検出することができる。 The sensor 5 transmits an electromagnetic wave as a transmitted wave from the transmitting antenna. For example, when a predetermined object (for example, the object 200 shown in FIG. 1) exists around the moving body 100, at least a part of the transmitted wave transmitted from the sensor 5 is reflected by the object to become a reflected wave. Then, by receiving such a reflected wave by, for example, the receiving antenna of the sensor 5, the electronic device 1 mounted on the mobile body 100 can detect the object.
　送信アンテナを備えるセンサ５は、典型的には、電波を送受信するレーダ（RADAR（Radio Detecting and Ranging））センサとしてよい。しかしながら、センサ５は、レーダセンサに限定されない。一実施形態に係るセンサ５は、例えば光波によるLIDAR（Light Detection and Ranging、Laser Imaging Detection and Ranging）の技術に基づくセンサとしてもよい。これらのようなセンサは、例えばパッチアンテナなどを含んで構成することができる。RADAR及びLIDARのような技術は既に知られているため、詳細な説明は、適宜、簡略化又は省略することがある。 The sensor 5 provided with a transmitting antenna may typically be a radar (RADAR (Radio Detecting and Ringing)) sensor that transmits and receives radio waves. However, the sensor 5 is not limited to the radar sensor. The sensor 5 according to one embodiment may be, for example, a sensor based on a LIDAR (Light Detection and Ringing, Laser Imaging Detection and Ringing) technique using light waves. Sensors such as these can be configured to include, for example, patch antennas. Since techniques such as RADAR and LIDAR are already known, detailed description may be simplified or omitted as appropriate.
　図１に示す移動体１００に搭載された電子機器１は、センサ５の送信アンテナから送信された送信波の反射波を受信アンテナから受信する。このようにして、電子機器１は、移動体１００から所定の距離内に存在する所定の物体２００を検出することができる。例えば、図１に示すように、電子機器１は、自車両である移動体１００と所定の物体２００との間の距離Ｌを測定することができる。また、電子機器１は、自車両である移動体１００と所定の物体２００との相対速度も測定することができる。さらに、電子機器１は、所定の物体２００からの反射波が、自車両である移動体１００に到来する方向（到来角θ）も測定することができる。以下、物体２００からの反射波のような信号が自機器に到来する角度を、「到来角」とも記す。 The electronic device 1 mounted on the mobile body 100 shown in FIG. 1 receives the reflected wave of the transmitted wave transmitted from the transmitting antenna of the sensor 5 from the receiving antenna. In this way, the electronic device 1 can detect a predetermined object 200 existing within a predetermined distance from the moving body 100. For example, as shown in FIG. 1, the electronic device 1 can measure the distance L between the moving body 100, which is the own vehicle, and the predetermined object 200. The electronic device 1 can also measure the relative speed between the moving body 100, which is its own vehicle, and the predetermined object 200. Further, the electronic device 1 can also measure the direction (arrival angle θ) at which the reflected wave from the predetermined object 200 arrives at the moving body 100 which is the own vehicle. Hereinafter, the angle at which a signal such as a reflected wave from the object 200 arrives at the own device is also referred to as an “arrival angle”.
　ここで、物体２００とは、例えば移動体１００に隣接する車線を走行する対向車、移動体１００に並走する自動車、及び移動体１００と同じ車線を走行する前後の自動車などの少なくともいずれかとしてよい。また、物体２００とは、オートバイ、自転車、ベビーカー、歩行者などの人間、動物、昆虫その他の生命体、ガードレール、中央分離帯、道路標識、歩道の段差、壁、マンホール、又は障害物など、移動体１００の周囲に存在する任意の物体としてよい。さらに、物体２００は、移動していてもよいし、停止していてもよい。例えば、物体２００は、移動体１００の周囲に駐車又は停車している自動車などとしてもよい。 Here, the object 200 is, for example, at least one of an oncoming vehicle traveling in a lane adjacent to the moving body 100, a vehicle traveling in parallel with the moving body 100, and a vehicle before and after traveling in the same lane as the moving body 100. good. The object 200 is a moving object such as a motorcycle, a bicycle, a stroller, a pedestrian or other human being, an animal, an insect or other life form, a guardrail, a median strip, a road sign, a step on a sidewalk, a wall, a manhole, or an obstacle. It may be any object existing around the body 100. Further, the object 200 may be moving or may be stationary. For example, the object 200 may be a car parked or stopped around the moving body 100.
　図１において、センサ５の大きさと、移動体１００の大きさとの比率は、必ずしも実際の比率を示すものではない。また、図１において、センサ５は、移動体１００の外部に設置した状態を示してある。しかしながら、一実施形態において、センサ５は、移動体１００の各種の位置に設置してよい。例えば、一実施形態において、センサ５は、移動体１００のバンパーの内部に設置して、移動体１００の外観に現れないようにしてもよい。 In FIG. 1, the ratio between the size of the sensor 5 and the size of the moving body 100 does not necessarily indicate the actual ratio. Further, in FIG. 1, the sensor 5 is shown in a state of being installed outside the moving body 100. However, in one embodiment, the sensor 5 may be installed at various positions of the moving body 100. For example, in one embodiment, the sensor 5 may be installed inside the bumper of the moving body 100 so as not to appear in the appearance of the moving body 100.
　次に、一実施形態に係る電子機器１をより詳細に説明するに際し、一般的なミリ波方式のレーダに基づく技術の現状について記す。 Next, in explaining the electronic device 1 according to the embodiment in more detail, the current state of the technique based on the general millimeter-wave radar will be described.
　例えば自動車産業などの業界において、自動ブレーキなどに代表される先進運転支援システム（Advanced Driver Assistance System：ＡＤＡＳ）が普及期に入り、かつてないほどにセンシング技術が着目されている。そこで、ミリ波方式のレーダのようなセンサとして、高速、高精度、高信頼性でありながら、より安価なものが望まれるようになっている。そのようなセンサの中でも、車両周辺の障害物などを検出する装置に関しては、障害物を検出する必要のある範囲において、障害物までの距離及び障害物の方向を、高い信頼度で正確に測定することが求められる。このようなセンサとして、ミリ波方式のレーダが多く用いられている。 For example, in industries such as the automobile industry, advanced driver assistance systems (ADAS) represented by automatic braking have entered a period of widespread use, and sensing technology is attracting more attention than ever before. Therefore, as a sensor such as a millimeter-wave radar, a sensor having high speed, high accuracy, and high reliability is desired at a lower cost. Among such sensors, for devices that detect obstacles around the vehicle, the distance to the obstacle and the direction of the obstacle can be accurately measured with high reliability within the range where it is necessary to detect the obstacle. Is required to do. Millimeter-wave radar is often used as such a sensor.
　また、近年、車載レーダとして複数の周波数帯を利用することが可能になりつつある。具体的には、既に利用されている周波数帯として、２４ＧＨｚ帯、７７ＧＨｚ帯、及び７９ＧＨｚ帯が存在する。また、将来の利用が見込まれる周波数帯として、１４０ＧＨｚ帯が、周波数割当て機関において、国際協調を考慮しつつ、検討されている。周波数割り当て機関は、日本国においては総務省であり、世界的にはＩＴＵ－Ｒ(ITU(International Telecommunication Union) Radiocommunication Sector)である。 Also, in recent years, it has become possible to use multiple frequency bands as an in-vehicle radar. Specifically, as the frequency band already used, there are a 24 GHz band, a 77 GHz band, and a 79 GHz band. Further, as a frequency band that is expected to be used in the future, the 140 GHz band is being studied by the frequency allocating organization in consideration of international cooperation. The frequency allocation organization is the Ministry of Internal Affairs and Communications in Japan, and the ITU-R (ITU (International Telecommunication Union) Radiocommunication Sector) worldwide.
　上述したミリ波方式のレーダの技術に基づく測距方式として、送信する電波の周波数を時間と共に一定に変化させるＦＭＣＷ（Frequency Modulated Continuous Wave radar）方式が広く採用されている。しかしながら、ミリ波レーダを搭載したシステムが普及すると、多くの自動車など搭載されたミリ波レーダの送信信号が互いに干渉し合うことが想定される。このような干渉が発生すると、ミリ波レーダによる正確な測距・測角性能が弱まることが予想される。ＦＭＣＷ方式において、周波数を変化させる幅（使用する周波数の帯域幅）が広ければ広いほど、測距・測角性能が向上する。一方、周波数を変化させる幅が広ければ広いほど、異なるレーダ間の送信信号がお互いに電波干渉を発生させて、性能劣化を招くリスクも高くなる。そこで、このような事態に対処し得るものとして、一実施形態に係る電子機器１を説明する。 The FMCW (Frequency Modified Continuous Wave radar) method, which changes the frequency of the transmitted radio wave to a constant level over time, is widely adopted as a distance measuring method based on the millimeter-wave radar technology described above. However, when a system equipped with a millimeter-wave radar becomes widespread, it is expected that the transmission signals of the millimeter-wave radar mounted on many automobiles and the like will interfere with each other. When such interference occurs, it is expected that the accurate distance measurement and angle measurement performance of the millimeter wave radar will be weakened. In the FMCW method, the wider the width for changing the frequency (bandwidth of the frequency to be used), the better the distance measurement / angle measurement performance. On the other hand, the wider the range for changing the frequency, the higher the risk that the transmission signals between different radars cause radio wave interference with each other, resulting in performance deterioration. Therefore, the electronic device 1 according to the embodiment will be described as a device that can deal with such a situation.
　以下、典型的な例として、一実施形態に係る電子機器１の送信アンテナは、ミリ波（３０ＧＨｚ以上）又は準ミリ波（例えば２０ＧＨｚ～３０ＧＨｚ付近）などのような周波数帯の電波を送信するものとして説明する。例えば、電子機器１の送信アンテナは、７７ＧＨｚ～８１ＧＨｚのように、４ＧＨｚの周波数帯域幅を有する電波を送信してもよい。また、電子機器１の送信アンテナは、２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯の少なくともいずれかの周波数帯域幅を有する電波を送信してもよい。 Hereinafter, as a typical example, the transmitting antenna of the electronic device 1 according to the embodiment transmits radio waves in a frequency band such as millimeter waves (30 GHz or more) or quasi-millimeter waves (for example, around 20 GHz to 30 GHz). It is explained as. For example, the transmitting antenna of the electronic device 1 may transmit a radio wave having a frequency bandwidth of 4 GHz, such as 77 GHz to 81 GHz. Further, the transmitting antenna of the electronic device 1 may transmit a radio wave having at least one frequency bandwidth of 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band.
　図２は、一実施形態に係る電子機器１の構成例を概略的に示す機能ブロック図である。後述のように、一実施形態に係る電子機器１は、複数の周波数帯域の電波の送信及び受信に対応するものとしてよい。以下、一実施形態に係る電子機器１の構成の一例について説明する。 FIG. 2 is a functional block diagram schematically showing a configuration example of the electronic device 1 according to the embodiment. As will be described later, the electronic device 1 according to the embodiment may correspond to the transmission and reception of radio waves in a plurality of frequency bands. Hereinafter, an example of the configuration of the electronic device 1 according to the embodiment will be described.
　ミリ波方式のレーダによって距離などを測定する際、周波数変調連続波レーダ（以下、ＦＭＣＷレーダ（Frequency Modulated Continuous Wave radar）と記す）が用いられることが多い。ＦＭＣＷレーダは、送信する電波の周波数を掃引して送信信号が生成される。したがって、例えば７９ＧＨｚの周波数帯の電波を用いるミリ波方式のＦＭＣＷレーダにおいて、使用する電波の周波数は、例えば７７ＧＨｚ～８１ＧＨｚのように、４ＧＨｚの周波数帯域幅を持つものとなる。７９ＧＨｚの周波数帯のレーダは、例えば２４ＧＨｚ、６０ＧＨｚ、７６ＧＨｚの周波数帯などの他のミリ波／準ミリ波レーダよりも、使用可能な周波数帯域幅が広いという特徴がある。以下、例として、電子機器１の送信アンテナは、２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯の少なくともいずれかの周波数帯域幅を有する電波を送信するような実施形態について説明する。以下の説明において、一般的なミリ波方式のレーダと同様になる説明は、適宜、簡略化又は省略する。 When measuring distance etc. with a millimeter-wave radar, a frequency-modulated continuous wave radar (hereinafter referred to as FMCW radar (Frequency Modified Continuous Wave radar)) is often used. The FMCW radar sweeps the frequency of the radio wave to be transmitted to generate a transmission signal. Therefore, in a millimeter-wave FMCW radar that uses radio waves in the frequency band of 79 GHz, for example, the frequency of the radio waves used has a frequency bandwidth of 4 GHz, for example, 77 GHz to 81 GHz. Radars in the 79 GHz frequency band are characterized by a wider usable frequency bandwidth than other millimeter-wave / quasi-millimeter wave radars, such as the 24 GHz, 60 GHz, and 76 GHz frequency bands. Hereinafter, as an example, an embodiment in which the transmitting antenna of the electronic device 1 transmits a radio wave having at least one of the frequency bandwidths of the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band will be described. In the following description, the description similar to that of a general millimeter-wave radar will be simplified or omitted as appropriate.
　図２に示すように、一実施形態に係る電子機器１は、センサ５とＥＣＵ（Electronic Control Unit）５０とから構成される。ＥＣＵ５０は、例えば自動車などのような移動体１００の様々な動作を制御する。ＥＣＵ５０は、少なくとも１以上のＥＣＵにより構成されるものとしてよい。 As shown in FIG. 2, the electronic device 1 according to the embodiment is composed of a sensor 5 and an ECU (Electronic Control Unit) 50. The ECU 50 controls various operations of the moving body 100 such as an automobile. The ECU 50 may be composed of at least one or more ECUs.
　図２に示すように、一実施形態に係る電子機器１は、レーダ制御部１０、周波数シンセサイザ１２、送信部２０、送信アンテナ２３、受信部３０、受信アンテナ３１、及びアナログフロントエンド４０を含んで構成されてよい。また、一実施形態に係る電子機器１において、送信部２０は、送信信号生成部２１、及びＤＡＣ２２を含んでよい。また、一実施形態に係る電子機器１において、受信部３０は、ＡＤＣ３２、距離推定部３３、速度推定部３４、角度推定部３５、クラスタリング・トラッキング処理部３６、及びノイズ電力測定部３７を含んでよい。一実施形態に係る電子機器１は、図２に示す機能部のうち少なくともいずれかを含まなくてもよいし、図２に示す機能部以外の機能部を含んでもよい。例えば、一実施形態に係る電子機器１は、半導体メモリなどによって構成され得る任意の記憶部などを含んでもよい。図２に示す電子機器１は、ミリ波帯域等の電磁波を用いた一般的なレーダと基本的に同様に構成した回路を用いて構成してよい。一方、一実施形態に係る電子機器１において、レーダ制御部１０による制御、及び、ノイズ電力測定部３７による動作は、従来の一般的なレーダとは異なるものとしてよい。 As shown in FIG. 2, the electronic device 1 according to the embodiment includes a radar control unit 10, a frequency synthesizer 12, a transmission unit 20, a transmission antenna 23, a reception unit 30, a reception antenna 31, and an analog front end 40. May be configured. Further, in the electronic device 1 according to the embodiment, the transmission unit 20 may include a transmission signal generation unit 21 and a DAC 22. Further, in the electronic device 1 according to the embodiment, the receiving unit 30 includes an ADC 32, a distance estimation unit 33, a speed estimation unit 34, an angle estimation unit 35, a clustering tracking processing unit 36, and a noise power measurement unit 37. good. The electronic device 1 according to the embodiment may not include at least one of the functional units shown in FIG. 2, or may include a functional unit other than the functional unit shown in FIG. For example, the electronic device 1 according to the embodiment may include an arbitrary storage unit that can be configured by a semiconductor memory or the like. The electronic device 1 shown in FIG. 2 may be configured by using a circuit configured basically in the same manner as a general radar using an electromagnetic wave such as a millimeter wave band. On the other hand, in the electronic device 1 according to the embodiment, the control by the radar control unit 10 and the operation by the noise power measurement unit 37 may be different from those of the conventional general radar.
　図２に示すように、一実施形態に係る電子機器１は、複数の周波数帯域の電波に対応するために、送信アンテナ２３及び受信アンテナ３１の対を複数備えてよい。図２に示す電子機器１のセンサ５は、送信アンテナ２３ａ、送信アンテナ２３ｂ、及び送信アンテナ２３ｃを備えている。同様に、図２に示す電子機器１のセンサ５は、受信アンテナ３１ａ、受信アンテナ３１ｂ、及び受信アンテナ３１ｃを備えている。本明細書において、送信アンテナ２３ａ、送信アンテナ２３ｂ、及び送信アンテナ２３ｃのような複数の送信アンテナを特に区別しない場合、単に「送信アンテナ２３」と記すことがある。同様に、受信アンテナ３１ａ、受信アンテナ３１ｂ、及び受信アンテナ３１ｃのような複数の受信アンテナを特に区別しない場合、単に「受信アンテナ３１」と記すことがある。 As shown in FIG. 2, the electronic device 1 according to the embodiment may include a plurality of pairs of a transmitting antenna 23 and a receiving antenna 31 in order to support radio waves in a plurality of frequency bands. The sensor 5 of the electronic device 1 shown in FIG. 2 includes a transmitting antenna 23a, a transmitting antenna 23b, and a transmitting antenna 23c. Similarly, the sensor 5 of the electronic device 1 shown in FIG. 2 includes a receiving antenna 31a, a receiving antenna 31b, and a receiving antenna 31c. In the present specification, when a plurality of transmitting antennas such as the transmitting antenna 23a, the transmitting antenna 23b, and the transmitting antenna 23c are not particularly distinguished, they may be simply referred to as “transmitting antenna 23”. Similarly, when a plurality of receiving antennas such as the receiving antenna 31a, the receiving antenna 31b, and the receiving antenna 31c are not particularly distinguished, it may be simply referred to as “receiving antenna 31”.
　図２に示すレーダ制御部１０は、電子機器１を構成する各機能部の制御をはじめとして、電子機器１全体の動作の制御を行うことができる。レーダ制御部１０は、種々の機能を実行するための制御及び処理能力を提供するために、例えばＣＰＵ(Central Processing Unit)又はＤＳＰ(Digital Signal Processor)のような、少なくとも１つのプロセッサを含んでよい。レーダ制御部１０は、まとめて１つのプロセッサで実現してもよいし、いくつかのプロセッサで実現してもよいし、それぞれ個別のプロセッサで実現してもよい。プロセッサは、単一の集積回路として実現されてよい。集積回路は、ＩＣ（Integrated Circuit）ともいう。プロセッサは、複数の通信可能に接続された集積回路及びディスクリート回路として実現されてよい。プロセッサは、他の種々の既知の技術に基づいて実現されてよい。一実施形態において、レーダ制御部１０は、例えばＣＰＵ（ハードウェア）及び当該ＣＰＵで実行されるプログラム（ソフトウェア）として構成してよい。レーダ制御部１０は、レーダ制御部１０の動作に必要な記憶部として、半導体メモリなどによって構成され得る任意の記憶部を含んでもよい。 The radar control unit 10 shown in FIG. 2 can control the operation of the entire electronic device 1 including the control of each functional unit constituting the electronic device 1. The radar control unit 10 may include at least one processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) in order to provide control and processing power for executing various functions. .. The radar control unit 10 may be realized collectively by one processor, by several processors, or by individual processors. The processor may be realized as a single integrated circuit. The integrated circuit is also referred to as an IC (Integrated Circuit). The processor may be realized as a plurality of communicably connected integrated circuits and discrete circuits. The processor may be implemented on the basis of various other known techniques. In one embodiment, the radar control unit 10 may be configured as, for example, a CPU (hardware) and a program (software) executed by the CPU. The radar control unit 10 may include an arbitrary storage unit that can be configured by a semiconductor memory or the like as a storage unit necessary for the operation of the radar control unit 10.
　一実施形態において、レーダ制御部１０は、送信アンテナ２３から送信される送信波の周波数を決定する。レーダ制御部１０は、ＥＣＵ５０からの指示に基づいて、送信アンテナ２３から送信される送信波の周波数を決定してもよい。一実施形態に係るレーダ制御部１０の動作については、さらに後述する。レーダ制御部１０によって決定された送信波の周波数は、周波数シンセサイザ１２に入力される。このため、レーダ制御部１０は、周波数シンセサイザ１２に接続されてよい。図２に示すように、レーダ制御部１０は、ＥＣＵ５０に接続されてもよい。また、図２に示すように、レーダ制御部１０は、送信部２０及び受信部３０に接続されてもよい。 In one embodiment, the radar control unit 10 determines the frequency of the transmitted wave transmitted from the transmitting antenna 23. The radar control unit 10 may determine the frequency of the transmitted wave transmitted from the transmitting antenna 23 based on the instruction from the ECU 50. The operation of the radar control unit 10 according to the embodiment will be further described later. The frequency of the transmitted wave determined by the radar control unit 10 is input to the frequency synthesizer 12. Therefore, the radar control unit 10 may be connected to the frequency synthesizer 12. As shown in FIG. 2, the radar control unit 10 may be connected to the ECU 50. Further, as shown in FIG. 2, the radar control unit 10 may be connected to the transmission unit 20 and the reception unit 30.
　周波数シンセサイザ１２は、レーダ制御部１０によって決定された周波数に基づいて、必要な周波数の搬送波を生成する。周波数シンセサイザ１２は、例えば一般的なミリ波方式のレーダの技術に基づくものとしてよい。周波数シンセサイザ１２によって生成された搬送波信号は、アナログフロントエンド４０に供給される。このため、周波数シンセサイザ１２は、アナログフロントエンド４０に接続されてよい。 The frequency synthesizer 12 generates a carrier wave of a required frequency based on the frequency determined by the radar control unit 10. The frequency synthesizer 12 may be based on, for example, a general millimeter-wave radar technique. The carrier signal generated by the frequency synthesizer 12 is supplied to the analog front end 40. Therefore, the frequency synthesizer 12 may be connected to the analog front end 40.
　送信部２０において、送信信号生成部２１は、電子機器１（送信アンテナ２３）から送信する信号を発生する。一実施形態に係る電子機器１において、送信信号生成部２１は、例えばチャープ信号のような送信信号（送信チャープ信号）を生成してよい。特に、送信信号生成部２１は、周波数が周期的に線形に変化する信号（線形チャープ信号）を生成してもよい。例えば、送信信号生成部２１は、周波数が時間の経過に伴って７７ＧＨｚから８１ＧＨｚまで周期的に線形に増大するチャープ信号（７９ＧＨｚ帯）を生成してもよい。また、例えば、送信信号生成部２１は、周波数が時間の経過に伴って７７ＧＨｚから８１ＧＨｚまで線形の増大（アップチャープ）及び減少（ダウンチャープ）を周期的に繰り返す信号を生成してもよい。送信信号生成部２１が生成する信号は、例えばレーダ制御部１０において予め設定されていてもよい。レーダのような技術分野で用いられるチャープ信号は既知であるため、より詳細な説明は、適宜、簡略化又は省略する。送信信号生成部２１によって生成された信号は、ＤＡＣ２２に供給される。このため、送信信号生成部２１は、ＤＡＣ２２に接続されてよい。 In the transmission unit 20, the transmission signal generation unit 21 generates a signal to be transmitted from the electronic device 1 (transmission antenna 23). In the electronic device 1 according to the embodiment, the transmission signal generation unit 21 may generate a transmission signal (transmission chirp signal) such as a chirp signal. In particular, the transmission signal generation unit 21 may generate a signal (linear chirp signal) whose frequency changes linearly periodically. For example, the transmission signal generation unit 21 may generate a chirp signal (79 GHz band) whose frequency increases linearly periodically from 77 GHz to 81 GHz with the passage of time. Further, for example, the transmission signal generation unit 21 may generate a signal in which the frequency periodically repeats linear increase (up chirp) and decrease (down chirp) from 77 GHz to 81 GHz with the passage of time. The signal generated by the transmission signal generation unit 21 may be preset, for example, in the radar control unit 10. Since chirp signals used in technical fields such as radar are known, more detailed description will be simplified or omitted as appropriate. The signal generated by the transmission signal generation unit 21 is supplied to the DAC 22. Therefore, the transmission signal generation unit 21 may be connected to the DAC 22.
　ＤＡＣ（デジタル・アナログ・コンバータ）２２は、送信信号生成部２１から供給されるデジタル信号をアナログ信号に変換する機能を有する。ＤＡＣ２２は、一般的なデジタル・アナログ・コンバータを含めて構成してよい。ＤＡＣ２２によってアナログ化された信号は、アナログフロントエンド４０に供給される。このため、ＤＡＣ２２は、アナログフロントエンド４０に接続されてよい。 The DAC (digital-to-analog converter) 22 has a function of converting a digital signal supplied from a transmission signal generation unit 21 into an analog signal. The DAC 22 may be configured to include a general digital-to-analog converter. The signal analogized by the DAC 22 is supplied to the analog front end 40. Therefore, the DAC 22 may be connected to the analog front end 40.
　アナログフロントエンド４０は、送信部２０によって生成された送信変調波、及び、周波数シンセサイザ１２によって生成された搬送波信号に基づいて、電子機器１（送信アンテナ２３）から送信する送信波を生成する。アナログフロントエンド４０は、例えば一般的なミリ波方式のレーダの技術に基づくものとしてよい。アナログフロントエンド４０によって生成された送信波は、送信アンテナ２３に供給される。このため、アナログフロントエンド４０は、送信アンテナ２３に接続されてよい。 The analog front end 40 generates a transmission wave to be transmitted from the electronic device 1 (transmission antenna 23) based on the transmission modulation wave generated by the transmission unit 20 and the carrier signal generated by the frequency synthesizer 12. The analog front end 40 may be based on, for example, a general millimeter-wave radar technique. The transmitted wave generated by the analog front end 40 is supplied to the transmitting antenna 23. Therefore, the analog front end 40 may be connected to the transmitting antenna 23.
　送信アンテナ２３は、複数の送信アンテナをアレイ状に配列させたアンテナアレイとしてよい。図２においては、送信アンテナ２３の構成を簡略化して示してある。送信アンテナ２３は、アナログフロントエンド４０から供給される信号を、電子機器１の外部に送信する。送信アンテナ２３は、一般的なミリ波レーダにおいて用いられる送信アンテナアレイを含めて構成してよい。一実施形態に係る電子機器１において、送信アンテナ２３ａは、例えば２４ＧＨｚ帯の電波の送信に対応するものとしてよい。また、電子機器１において、送信アンテナ２３ｂは、例えば７７ＧＨｚ又は７９ＧＨｚ帯の電波の送信に対応するものとしてよい。また、電子機器１において、送信アンテナ２３ｃは、例えば１４０ＧＨｚ帯の電波の送信に対応するものとしてよい。 The transmitting antenna 23 may be an antenna array in which a plurality of transmitting antennas are arranged in an array. In FIG. 2, the configuration of the transmitting antenna 23 is shown in a simplified manner. The transmitting antenna 23 transmits the signal supplied from the analog front end 40 to the outside of the electronic device 1. The transmitting antenna 23 may be configured to include a transmitting antenna array used in a general millimeter-wave radar. In the electronic device 1 according to the embodiment, the transmitting antenna 23a may correspond to, for example, transmitting radio waves in the 24 GHz band. Further, in the electronic device 1, the transmitting antenna 23b may correspond to the transmission of radio waves in, for example, 77 GHz or 79 GHz band. Further, in the electronic device 1, the transmitting antenna 23c may correspond to, for example, transmitting radio waves in the 140 GHz band.
　このようにして、一実施形態に係る電子機器１は、送信アンテナ２３を備え、送信アンテナ２３から送信波として送信信号（例えば送信チャープ信号）を送信することができる。 In this way, the electronic device 1 according to the embodiment is provided with the transmission antenna 23, and can transmit a transmission signal (for example, a transmission chirp signal) as a transmission wave from the transmission antenna 23.
　例えば、図２に示すように、電子機器１の周囲に物体２００が存在する場合を想定する。この場合、送信アンテナ２３から送信された送信波の少なくとも一部は、物体２００によって反射される。送信アンテナ２３から送信された送信波のうち、物体２００によって反射されるものの少なくとも一部は、受信アンテナ３１に向けて反射され得る。 For example, as shown in FIG. 2, it is assumed that an object 200 exists around the electronic device 1. In this case, at least a part of the transmitted wave transmitted from the transmitting antenna 23 is reflected by the object 200. Of the transmitted waves transmitted from the transmitting antenna 23, at least a part of those reflected by the object 200 can be reflected toward the receiving antenna 31.
　受信アンテナ３１は、反射波を受信する。ここで、当該反射波は、送信アンテナ２３から送信された送信波のうち物体２００によって反射されたものの少なくとも一部としてよい。 The receiving antenna 31 receives the reflected wave. Here, the reflected wave may be at least a part of the transmitted wave transmitted from the transmitting antenna 23 and reflected by the object 200.
　受信アンテナ３１は、複数の受信アンテナをアレイ状に配列させたアンテナアレイとしてよい。図２においては、受信アンテナ３１の構成を簡略化して示してある。受信アンテナ３１は、送信アンテナ２３から送信された送信波が反射された反射波を受信する。受信アンテナ３１は、一般的なミリ波レーダにおいて用いられる受信アンテナアレイを含めて構成してよい。一実施形態に係る電子機器１において、受信アンテナ３１ａは、例えば２４ＧＨｚ帯の電波の受信に対応するものとしてよい。また、電子機器１において、受信アンテナ３１ｂは、例えば７７ＧＨｚ又は７９ＧＨｚ帯の電波の受信に対応するものとしてよい。また、電子機器１において、受信アンテナ３１ｃは、例えば１４０ＧＨｚ帯の電波の受信に対応するものとしてよい。受信アンテナ３１は、反射波として受信された受信信号を、アナログフロントエンド４０に供給する。このため、受信アンテナ３１は、アナログフロントエンド４０に接続されてよい。 The receiving antenna 31 may be an antenna array in which a plurality of receiving antennas are arranged in an array. In FIG. 2, the configuration of the receiving antenna 31 is shown in a simplified manner. The receiving antenna 31 receives the reflected wave in which the transmitted wave transmitted from the transmitting antenna 23 is reflected. The receiving antenna 31 may be configured to include a receiving antenna array used in a general millimeter-wave radar. In the electronic device 1 according to the embodiment, the receiving antenna 31a may correspond to, for example, receiving radio waves in the 24 GHz band. Further, in the electronic device 1, the receiving antenna 31b may correspond to reception of radio waves in, for example, 77 GHz or 79 GHz band. Further, in the electronic device 1, the receiving antenna 31c may correspond to, for example, receiving radio waves in the 140 GHz band. The receiving antenna 31 supplies the received signal received as a reflected wave to the analog front end 40. Therefore, the receiving antenna 31 may be connected to the analog front end 40.
　上述のアナログフロントエンド４０は、周波数シンセサイザ１２によって生成された搬送波信号、及び、受信アンテナ３１によって受信された反射波に基づいて、受信変調信号を生成する。アナログフロントエンド４０によって生成された受信変調信号は、ＡＤＣ３２及びノイズ電力測定部３７に供給される。このため、アナログフロントエンド４０は、受信部３０のＡＤＣ３２及びノイズ電力測定部３７に接続されてよい。 The analog front end 40 described above generates a reception modulation signal based on the carrier signal generated by the frequency synthesizer 12 and the reflected wave received by the reception antenna 31. The received modulation signal generated by the analog front end 40 is supplied to the ADC 32 and the noise power measuring unit 37. Therefore, the analog front end 40 may be connected to the ADC 32 of the receiving unit 30 and the noise power measuring unit 37.
　ＡＤＣ（アナログ・デジタル・コンバータ）３２は、アナログフロントエンド４０から供給されるアナログ信号をデジタル信号に変換する機能を有する。ＡＤＣ３２は、一般的なアナログ・デジタル・コンバータを含めて構成してよい。ＡＤＣ３２によってデジタル化された信号は、距離推定部３３及び速度推定部３４に供給される。このため、ＡＤＣ３２は、距離推定部３３及び速度推定部３４に接続されてよい。 The ADC (analog-to-digital converter) 32 has a function of converting an analog signal supplied from the analog front end 40 into a digital signal. The ADC 32 may be configured to include a general analog-to-digital converter. The signal digitized by the ADC 32 is supplied to the distance estimation unit 33 and the speed estimation unit 34. Therefore, the ADC 32 may be connected to the distance estimation unit 33 and the speed estimation unit 34.
　距離推定部３３は、ＡＤＣ３２から供給されるデジタル信号に基づいて、電子機器１から物体２００までの距離を算出する（測距）。また、速度推定部３４は、ＡＤＣ３２から供給されるデジタル信号に基づいて、物体２００の電子機器１に対する相対速度を算出する（測速）。距離推定部３３による距離の推定結果及び速度推定部３４による速度の推定結果は、角度推定部３５に供給されてよい。角度推定部３５は、距離推定部３３による距離の推定結果及び速度推定部３４による速度の推定結果に基づいて、物体２００の電子機器１から見た方位角（到来角）を算出する（測角）。距離推定部３３による距離の推定結果、速度推定部３４による速度の推定結果、及び角度推定部３５による角度の推定結果の少なくともいずれかは、クラスタリング・トラッキング処理部３６に供給されてよい。 The distance estimation unit 33 calculates the distance from the electronic device 1 to the object 200 based on the digital signal supplied from the ADC 32 (distance measurement). Further, the speed estimation unit 34 calculates the relative speed of the object 200 with respect to the electronic device 1 based on the digital signal supplied from the ADC 32 (speed measurement). The distance estimation result by the distance estimation unit 33 and the speed estimation result by the speed estimation unit 34 may be supplied to the angle estimation unit 35. The angle estimation unit 35 calculates the azimuth angle (arrival angle) of the object 200 as seen from the electronic device 1 of the object 200 based on the distance estimation result by the distance estimation unit 33 and the speed estimation result by the speed estimation unit 34 (angle measurement). ). At least one of the distance estimation result by the distance estimation unit 33, the speed estimation result by the speed estimation unit 34, and the angle estimation result by the angle estimation unit 35 may be supplied to the clustering tracking processing unit 36.
　具体的には、受信部３０は、Ｉ／Ｑ変換されたデータが入力されることにより、距離（Range）方向及び速度（Velocity）方向の高速フーリエ変換（２Ｄ－ＦＦＴ）をそれぞれ行う。その後、受信部３０は、例えば、ＵＡＲＴ（Universal Asynchronous Receiver Transmitter）、及び／又は、ＣＦＡＲ（Constant False Alarm Rate）などの処理による雑音点の除去による誤警報の抑制と一定確率化を行う。そして、受信部３０は、例えばＣＦＡＲの基準を満たす点に対して到来角度推定を行うことにより、物体２００の位置を得ることとなる。受信部３０によって測距、測速、及び測角された結果として生成される情報（センシング結果）は、電子機器１の外部に出力されてよい。一実施形態に係る電子機器１における距離の推定、速度の推定、及び角度の推定は、例えば一般的なミリ波方式のレーダの技術に基づくものとしてよい。 Specifically, the receiving unit 30 performs a fast Fourier transform (2D-FFT) in the distance (Range) direction and the velocity (Velocity) direction by inputting the I / Q converted data. After that, the receiving unit 30 suppresses false alarms and makes a constant probability by removing noise points by processing such as UART (Universal Asynchronous Receiver Transmitter) and / or CFAR (Constant False Alarm Rate). Then, the receiving unit 30 obtains the position of the object 200 by, for example, estimating the arrival angle with respect to a point satisfying the CFAR reference. The information (sensing result) generated as a result of distance measurement, speed measurement, and angle measurement by the receiving unit 30 may be output to the outside of the electronic device 1. The distance estimation, speed estimation, and angle estimation in the electronic device 1 according to the embodiment may be based on, for example, a general millimeter-wave radar technique.
　センサ５は、クラスタリング・トラッキング処理部３６による処理結果（センシング結果）を例えば外部の制御部に出力するインタフェースを含んで構成されてもよい。クラスタリング・トラッキング処理部３６は、物体２００の位置、速度、及び角度の少なくともいずれかの情報を、例えばＣＡＮ（Controller Area Network）などの信号として、センサ５の外部に出力してよい。一実施形態に係る電子機器１から出力されるセンシング結果は、例えばＥＣＵ５０に供給されてよい。 The sensor 5 may be configured to include an interface that outputs a processing result (sensing result) by the clustering tracking processing unit 36 to, for example, an external control unit. The clustering tracking processing unit 36 may output at least one of the information on the position, speed, and angle of the object 200 to the outside of the sensor 5 as a signal such as CAN (Controller Area Network). The sensing result output from the electronic device 1 according to the embodiment may be supplied to, for example, the ECU 50.
　一実施形態に係る電子機器１が備えるＥＣＵ５０は、移動体１００を構成する各機能部の制御をはじめとして、移動体１００全体の動作の制御を行うことができる。ＥＣＵ５０は、種々の機能を実行するための制御及び処理能力を提供するために、例えばＣＰＵ（Central Processing Unit）のような、少なくとも１つのプロセッサを含んでよい。ＥＣＵ５０は、まとめて１つのプロセッサで実現してもよいし、いくつかのプロセッサで実現してもよいし、それぞれ個別のプロセッサで実現してもよい。プロセッサは、単一の集積回路として実現されてよい。集積回路は、ＩＣ（Integrated Circuit）ともいう。プロセッサは、複数の通信可能に接続された集積回路及びディスクリート回路として実現されてよい。プロセッサは、他の種々の既知の技術に基づいて実現されてよい。一実施形態において、ＥＣＵ５０は、例えばＣＰＵ及び当該ＣＰＵで実行されるプログラムとして構成してよい。ＥＣＵ５０は、例えば半導体メモリなどによって構成され得る任意の記憶部を適宜含んでもよい。また、レーダ制御部１０の機能の少なくとも一部がＥＣＵ５０の機能とされてもよいし、ＥＣＵ５０の機能の少なくとも一部がレーダ制御部１０の機能とされてもよい。 The ECU 50 included in the electronic device 1 according to the embodiment can control the operation of the entire mobile body 100, including the control of each functional unit constituting the mobile body 100. The ECU 50 may include at least one processor, such as a CPU (Central Processing Unit), in order to provide control and processing power to perform various functions. The ECU 50 may be realized collectively by one processor, by several processors, or by individual processors. The processor may be realized as a single integrated circuit. The integrated circuit is also referred to as an IC (Integrated Circuit). The processor may be realized as a plurality of communicably connected integrated circuits and discrete circuits. The processor may be implemented on the basis of various other known techniques. In one embodiment, the ECU 50 may be configured as, for example, a CPU and a program executed by the CPU. The ECU 50 may appropriately include any storage unit that may be configured by, for example, a semiconductor memory. Further, at least a part of the function of the radar control unit 10 may be a function of the ECU 50, or at least a part of the function of the ECU 50 may be a function of the radar control unit 10.
　このように、一実施形態に係る電子機器１は、送信波を送信する送信アンテナ２３と、送信波が反射された反射波を受信する受信アンテナ３１と、を備えてよい。このような構成によって、一実施形態に係る電子機器１は、送信波として送信される送信信号及び反射波として受信される受信信号に基づいて物体を検出してよい。 As described above, the electronic device 1 according to the embodiment may include a transmitting antenna 23 for transmitting a transmitted wave and a receiving antenna 31 for receiving the reflected wave reflected by the transmitted wave. With such a configuration, the electronic device 1 according to the embodiment may detect an object based on a transmission signal transmitted as a transmission wave and a reception signal received as a reflected wave.
　また、ノイズ電力測定部３７は、アナログフロントエンド４０から供給されるアナログ信号のノイズ電力を測定する。一実施形態において、ノイズ電力測定部３７は、受信アンテナ３１が受信する電波におけるノイズの電力を測定してよい。例えば、ノイズ電力測定部３７は、送信アンテナ２３から送信波を送信していない時に、受信アンテナ３１が受信する信号のノイズ電力を測定してもよい。また、例えば、ノイズ電力測定部３７は、送信波のフレームにおいて送信波の送信が設定されていないタイミングで受信アンテナ３１が受信する信号のノイズ電力を測定してもよい。ノイズ電力測定部３７によって測定されたノイズ電力の情報は、例えばＥＣＵ５０などに供給されてよい。このため、図２に示すように、ノイズ電力測定部３７は、ＥＣＵ５０に接続されてよい。 Further, the noise power measuring unit 37 measures the noise power of the analog signal supplied from the analog front end 40. In one embodiment, the noise power measuring unit 37 may measure the power of noise in the radio wave received by the receiving antenna 31. For example, the noise power measuring unit 37 may measure the noise power of the signal received by the receiving antenna 31 when the transmitting wave is not transmitted from the transmitting antenna 23. Further, for example, the noise power measuring unit 37 may measure the noise power of the signal received by the receiving antenna 31 at the timing when the transmission of the transmitted wave is not set in the frame of the transmitted wave. The noise power information measured by the noise power measuring unit 37 may be supplied to, for example, the ECU 50. Therefore, as shown in FIG. 2, the noise power measuring unit 37 may be connected to the ECU 50.
　図２に示したセンサ５は、送信アンテナ２３及び受信アンテナ３１の対を３つ備えてている。しかしながら、一実施形態において、センサ５は、後述のように、送信アンテナ２３及び受信アンテナ３１の対を１つ備えてもよいし、送信アンテナ２３及び受信アンテナ３１の対を任意の複数個備えてもよい。 The sensor 5 shown in FIG. 2 includes three pairs of a transmitting antenna 23 and a receiving antenna 31. However, in one embodiment, the sensor 5 may include one pair of the transmitting antenna 23 and the receiving antenna 31, or any plurality of pairs of the transmitting antenna 23 and the receiving antenna 31, as described later. May be good.
　次に、一実施形態に係る電子機器１が自動車のような移動体１００に設置される場合の構成について説明する。 Next, a configuration when the electronic device 1 according to the embodiment is installed in a mobile body 100 such as an automobile will be described.
　図３は、一実施形態に係る電子機器１が例えば自動車のような移動体１００に設置される場合の構成を概略的に示す機能ブロック図である。図２に示した電子機器１は、センサ５と、ＥＣＵ５０とを備えている。図３に示すセンサ５と、ＥＣＵ５０とは、それぞれ、図２に示したセンサ５と、ＥＣＵ５０と同じとしてよい。また、図３に示すように、電子機器１は、例えば自動車のような移動体１００に設置される場合、図２に示したセンサ５及びＥＣＵ５０の他に、さらに、位置取得部６０、及び通信部７０などを備えてよい。 FIG. 3 is a functional block diagram schematically showing a configuration when the electronic device 1 according to the embodiment is installed in a mobile body 100 such as an automobile. The electronic device 1 shown in FIG. 2 includes a sensor 5 and an ECU 50. The sensor 5 and the ECU 50 shown in FIG. 3 may be the same as the sensor 5 and the ECU 50 shown in FIG. 2, respectively. Further, as shown in FIG. 3, when the electronic device 1 is installed in a mobile body 100 such as an automobile, in addition to the sensor 5 and the ECU 50 shown in FIG. 2, the position acquisition unit 60 and communication A unit 70 or the like may be provided.
　図３に示すセンサ５及びＥＣＵ５０については、図２において説明したとおりである。 The sensor 5 and the ECU 50 shown in FIG. 3 are as described in FIG.
　位置取得部６０は、位置取得部６０が存在する位置に関する情報を取得する。位置取得部６０が存在する位置とは、例えば、センサ５、電子機器１、又は自動車のような移動体１００の位置としてもよい。位置取得部６０は、ＧＮＳＳ（Global Navigation Satellite System）技術等に基づいて、位置情報を取得するものとしてよい。ＧＮＳＳ技術は、例えばＧＰＳ（Global Positioning System）、ＧＬＯＮＡＳＳ、Ｇａｌｉｌｅｏ、及び準天頂衛星（ＱＺＳＳ）等のいずれか衛星測位システムを含んでよい。位置取得部６０は、例えばＧＰＳモジュールなどの位置情報所得デバイスとしてよい。位置取得部６０は、ＧＰＳモジュールなどに限定されず、位置に関する情報を取得可能な任意のデバイスによって構成してもよい。 The position acquisition unit 60 acquires information regarding the position where the position acquisition unit 60 exists. The position where the position acquisition unit 60 exists may be, for example, the position of the sensor 5, the electronic device 1, or the moving body 100 such as an automobile. The position acquisition unit 60 may acquire position information based on GNSS (Global Navigation Satellite System) technology or the like. GNSS technology may include any satellite positioning system such as GPS (Global Positioning System), GLONASS, Galileo, and Quasi-Zenith Satellite (QZSS). The position acquisition unit 60 may be a position information income device such as a GPS module. The position acquisition unit 60 is not limited to the GPS module or the like, and may be configured by any device capable of acquiring information regarding the position.
　位置取得部６０が取得する位置情報は、例えば、緯度情報、経度情報、及び高度情報の少なくともいずれかの情報を含んでよい。位置取得部６０が取得する位置情報は、ＥＣＵ５０に供給される。位置取得部６０から供給される位置情報に基づいて、ＥＣＵ５０は、電子機器１（又はセンサ５若しくは移動体１００）の現在位置などを把握することができる。 The position information acquired by the position acquisition unit 60 may include, for example, at least one of latitude information, longitude information, and altitude information. The position information acquired by the position acquisition unit 60 is supplied to the ECU 50. Based on the position information supplied from the position acquisition unit 60, the ECU 50 can grasp the current position of the electronic device 1 (or the sensor 5 or the moving body 100) and the like.
　通信部７０は、有線又は無線により通信するためのインタフェースである。一実施形態の通信部７０によって行われる通信方式は無線通信規格としてよい。例えば、無線通信規格は２Ｇ、３Ｇ、４Ｇ、及び５Ｇ等のセルラーフォンの通信規格を含む。例えばセルラーフォンの通信規格は、ＬＴＥ（Long Term Evolution）、Ｗ－ＣＤＭＡ（Wideband Code Division Multiple Access）、ＣＤＭＡ２０００、ＰＤＣ（Personal Digital Cellular）、ＧＳＭ（登録商標）（Global System for Mobile communications）、及びＰＨＳ（Personal Handy-phone System）等を含む。例えば、無線通信規格は、ＷｉＭＡＸ（Worldwide Interoperability for Microwave Access）、ＩＥＥＥ８０２．１１、Ｂｌｕｅｔｏｏｔｈ（登録商標）、ＩｒＤＡ（Infrared Data Association）、及びＮＦＣ（Near Field Communication）等を含む。通信部７０は、上記の通信規格の１つ又は複数をサポートすることができる。 The communication unit 70 is an interface for communicating by wire or wirelessly. The communication method performed by the communication unit 70 of one embodiment may be a wireless communication standard. For example, wireless communication standards include communication standards for cellular phones such as 2G, 3G, 4G, and 5G. For example, the communication standards for cellular phones are LTE (Long Term Evolution), W-CDMA (Wideband Code Division Multiple Access), CDMA2000, PDC (Personal Digital Cellular), GSM (registered trademark) (Global System for Mobile communications), and PHS. (Personal Handy-phone System) etc. are included. For example, wireless communication standards include WiMAX (Worldwide Interoperability for Microwave Access), 802.11, Bluetooth (registered trademark), Infrared Data Association (IrDA), NFC (Near Field Communication), and the like. The communication unit 70 can support one or more of the above communication standards.
　通信部７０は、例えば外部のサーバのような情報処理装置と有線通信及び／又は無線通信を行うことにより、各種データの送受信を行う。ここで、通信部７０が行う通信とは、各種データの送信及び受信の少なくとも一方としてよい。通信部７０は、例えば、位置取得部６０が取得した電子機器１の位置を、例えば外部のサーバのような情報処理装置に送信することができる。また、通信部７０は、例えば、センサ５が検出した各種の情報の少なくともいずれかを、例えば外部のサーバのような情報処理装置に送信することができる。また、通信部７０は、例えば、外部のサーバのような情報処理装置から各種の情報を受信することができる。 The communication unit 70 transmits / receives various data by performing wired communication and / or wireless communication with an information processing device such as an external server. Here, the communication performed by the communication unit 70 may be at least one of transmission and reception of various data. The communication unit 70 can transmit, for example, the position of the electronic device 1 acquired by the position acquisition unit 60 to an information processing device such as an external server. Further, the communication unit 70 can transmit, for example, at least one of various information detected by the sensor 5 to an information processing device such as an external server. Further, the communication unit 70 can receive various information from an information processing device such as an external server.
　　次に、一実施形態に係る電子機器１を含むシステムの構成例について説明する。 Next, a configuration example of a system including the electronic device 1 according to the embodiment will be described.
　図４は、一実施形態に係る電子機器１を含むシステムの構成の一例を概略的に示す図である。図４に示すように、一実施形態に係るシステムは、電子機器１と、情報処理装置８０と、を含んで構成される。 FIG. 4 is a diagram schematically showing an example of the configuration of a system including the electronic device 1 according to the embodiment. As shown in FIG. 4, the system according to the embodiment includes an electronic device 1 and an information processing device 80.
　図４に示すように、移動体１００Ａには、センサ５Ａを含む電子機器１Ａが設置されている。移動体１００Ｂには、センサ５Ｂを含む電子機器１Ｂが設置されている。移動体１００Ｃには、センサ５Ｃを含む電子機器１Ｃが設置されている。以下、移動体１００Ａと、移動体１００Ｂと、移動体１００Ｃとをそれぞれ区別しない場合、単に「移動体１００」と記す。また、センサ５Ａと、センサ５Ｂと、センサ５Ｃとをそれぞれ区別しない場合、単に「センサ５」と記す。また、電子機器１Ａと、電子機器１Ｂと、電子機器１Ｃとをそれぞれ区別しない場合、単に「電子機器１」と記す。電子機器１は、図２及び図３において説明したものと同じとしてよい。 As shown in FIG. 4, an electronic device 1A including a sensor 5A is installed in the mobile body 100A. An electronic device 1B including a sensor 5B is installed in the mobile body 100B. An electronic device 1C including a sensor 5C is installed in the mobile body 100C. Hereinafter, when the moving body 100A, the moving body 100B, and the moving body 100C are not distinguished from each other, they are simply referred to as "moving body 100". Further, when the sensor 5A, the sensor 5B, and the sensor 5C are not distinguished from each other, it is simply referred to as "sensor 5". Further, when the electronic device 1A, the electronic device 1B, and the electronic device 1C are not distinguished from each other, it is simply referred to as "electronic device 1". The electronic device 1 may be the same as that described in FIGS. 2 and 3.
　図４に示すシステムは、それぞれ電子機器１を設置した移動体１００を３つ含む例を示している。しかしながら、一実施形態に係るシステムは、電子機器１を設置した移動体１００を少なくとも１つ含んで構成してよい。図４に示すように、それぞれの移動体１００に設置された電子機器１は、情報処理装置８０と無線による通信を行うことができる。このような通信により、電子機器１と、情報処理装置８０とは、各種のデータをやり取りすることができる。 The system shown in FIG. 4 shows an example including three mobile bodies 100 in which the electronic device 1 is installed. However, the system according to one embodiment may be configured to include at least one mobile body 100 in which the electronic device 1 is installed. As shown in FIG. 4, the electronic device 1 installed in each mobile body 100 can wirelessly communicate with the information processing device 80. Through such communication, various data can be exchanged between the electronic device 1 and the information processing device 80.
　情報処理装置８０は、後述するように、各種のサーバ又はクラウドサーバ等のような任意の情報処理装置（例えばコンピュータ）として構成してよい。電子機器１と、情報処理装置８０とは、例えばネットワークを介して接続されてもよい。図４に示すシステムは、情報処理装置８０を１つのみ含む例を示している。しかしながら、一実施形態に係るシステムにおいて、情報処理装置８０を２つ以上含んでもよい。この場合、例えば複数の情報処理装置８０同士は、有線及び／又は無線によって互いに通信可能に構成してもよい。 As will be described later, the information processing device 80 may be configured as an arbitrary information processing device (for example, a computer) such as various servers or cloud servers. The electronic device 1 and the information processing device 80 may be connected to each other via, for example, a network. The system shown in FIG. 4 shows an example including only one information processing apparatus 80. However, in the system according to one embodiment, two or more information processing devices 80 may be included. In this case, for example, the plurality of information processing devices 80 may be configured to be able to communicate with each other by wire and / or wirelessly.
　図５は、一実施形態に係る情報処理装置の構成を概略的に示す機能ブロック図である。図５は、図４に示した情報処理装置８０の一例の構成を、より詳細に示している。 FIG. 5 is a functional block diagram schematically showing the configuration of the information processing apparatus according to the embodiment. FIG. 5 shows in more detail the configuration of an example of the information processing apparatus 80 shown in FIG.
　図５に示すように、情報処理装置８０は、制御部８２と、受信部８４と、送信部８６と、記憶部８８とを備えている。 As shown in FIG. 5, the information processing apparatus 80 includes a control unit 82, a reception unit 84, a transmission unit 86, and a storage unit 88.
　制御部８２は、情報処理装置８０の各機能ブロックをはじめとして、情報処理装置８０の全体を制御及び／又は管理する少なくとも１つのプロセッサを含む。制御部８２は、制御手順を規定したプログラムを実行するＣＰＵ等の少なくとも１つのプロセッサを含んで構成され、その機能を実現する。このようなプログラムは、例えば記憶部８８、又は情報処理装置８０に接続された外部の記憶媒体等に格納される。一実施形態に係る制御部８２の動作については、さらに後述する。 The control unit 82 includes at least one processor that controls and / or manages the entire information processing device 80, including each functional block of the information processing device 80. The control unit 82 is configured to include at least one processor such as a CPU that executes a program that defines a control procedure, and realizes its function. Such a program is stored in, for example, a storage unit 88, an external storage medium connected to the information processing device 80, or the like. The operation of the control unit 82 according to the embodiment will be further described later.
　受信部８４は、有線及び／又は無線によって他の装置から各種の情報を受信可能に構成してよい。例えば、受信部８４は、図４に示した電子機器１の通信部７０から、電子機器１のセンサ５による検出結果に基づく情報を受信してよい。また、受信部８４は、情報処理装置８０以外の他の情報処理装置等から各種の情報を受信してもよい。 The receiving unit 84 may be configured to be able to receive various information from other devices by wire and / or wirelessly. For example, the receiving unit 84 may receive information based on the detection result by the sensor 5 of the electronic device 1 from the communication unit 70 of the electronic device 1 shown in FIG. Further, the receiving unit 84 may receive various information from an information processing device or the like other than the information processing device 80.
　送信部８６は、有線及び／又は無線によって他の装置に各種の情報を送信可能に構成してよい。例えば、送信部８６は、制御部８２による処理の結果に基づく情報、及び／又は、記憶部８８から読み出した情報などを、図４に示した電子機器１の通信部７０に送信してよい。また、送信部８６は、情報処理装置８０以外の他の情報処理装置等に各種の情報を送信してもよい。 The transmission unit 86 may be configured to be able to transmit various information to other devices by wire and / or wirelessly. For example, the transmission unit 86 may transmit information based on the result of processing by the control unit 82 and / or information read from the storage unit 88 to the communication unit 70 of the electronic device 1 shown in FIG. Further, the transmission unit 86 may transmit various information to an information processing device or the like other than the information processing device 80.
　受信部８４及び／又は送信部８６は、有線又は無線により通信するためのインタフェースである。一実施形態の受信部８４及び／又は送信部８６によって行われる通信方式は無線通信規格としてよい。例えば、無線通信規格は２Ｇ、３Ｇ、４Ｇ、及び５Ｇ等のセルラーフォンの通信規格を含む。例えばセルラーフォンの通信規格は、ＬＴＥ（Long Term Evolution）、Ｗ－ＣＤＭＡ（Wideband Code Division Multiple Access）、ＣＤＭＡ２０００、ＰＤＣ（Personal Digital Cellular）、ＧＳＭ（登録商標）（Global System for Mobile communications）、及びＰＨＳ（Personal Handy-phone System）等を含む。例えば、無線通信規格は、ＷｉＭＡＸ（Worldwide Interoperability for Microwave Access）、ＩＥＥＥ８０２．１１、Ｂｌｕｅｔｏｏｔｈ（登録商標）、ＩｒＤＡ（Infrared Data Association）、及びＮＦＣ（Near Field Communication）等を含む。受信部８４及び／又は送信部８６は、上記の通信規格の１つ又は複数をサポートすることができる。 The receiving unit 84 and / or the transmitting unit 86 is an interface for communicating by wire or wirelessly. The communication method performed by the receiving unit 84 and / or the transmitting unit 86 of one embodiment may be a wireless communication standard. For example, wireless communication standards include communication standards for cellular phones such as 2G, 3G, 4G, and 5G. For example, the communication standards for cellular phones are LTE (Long Term Evolution), W-CDMA (Wideband Code Division Multiple Access), CDMA2000, PDC (Personal Digital Cellular), GSM (registered trademark) (Global System for Mobile communications), and PHS. (Personal Handy-phone System) etc. are included. For example, wireless communication standards include WiMAX (Worldwide Interoperability for Microwave Access), 802.11, Bluetooth (registered trademark), Infrared Data Association (IrDA), NFC (Near Field Communication), and the like. The receiving unit 84 and / or the transmitting unit 86 can support one or more of the above communication standards.
　記憶部８８は、制御部８２において実行されるプログラム、及び、制御部８２において実行された処理の結果などを記憶してよい。また、記憶部８８は、制御部８２のワークメモリとして機能してよい。記憶部８８は、例えば半導体メモリ又は磁気ディスク等により構成することができるが、これらに限定されず、任意の記憶装置とすることができる。また、例えば、記憶部８８は、本実施形態に係る電子機器１に挿入されたメモリカードのような記憶媒体としてもよい。また、記憶部８８は、上述のように、制御部８２として用いられるＣＰＵの内部メモリであってもよい。 The storage unit 88 may store the program executed by the control unit 82, the result of the processing executed by the control unit 82, and the like. Further, the storage unit 88 may function as a work memory of the control unit 82. The storage unit 88 can be configured by, for example, a semiconductor memory, a magnetic disk, or the like, but is not limited to these, and can be any storage device. Further, for example, the storage unit 88 may be a storage medium such as a memory card inserted in the electronic device 1 according to the present embodiment. Further, as described above, the storage unit 88 may be the internal memory of the CPU used as the control unit 82.
　次に、一実施形態に係るシステムにおける電子機器１及び情報処理装置８０の動作について説明する。 Next, the operation of the electronic device 1 and the information processing device 80 in the system according to the embodiment will be described.
　図４に示すように、一実施形態に係る電子機器１は、各地を走行する移動体１００のそれぞれに設置されたセンサ５による検出結果に基づく情報を、情報処理装置８０に送信する。すなわち、一実施形態に係るシステムにおいて、様々な場所において電子機器１のセンサ５によって検出された結果に基づく情報は、情報処理装置８０に集約される。図４に示す移動体１００のそれぞれの位置は模式的に例示したものである。複数の移動体１００は、それぞれ、任意の位置にあるものとしてよく、互いに近くに存在してもよいし、違いに遠隔に存在してもよい。また、複数の移動体１００は、それぞれ、任意の速度で走行していてもよいし、停車又駐車していてもよい。 As shown in FIG. 4, the electronic device 1 according to the embodiment transmits information based on the detection result by the sensors 5 installed in each of the mobile bodies 100 traveling in various places to the information processing device 80. That is, in the system according to one embodiment, information based on the results detected by the sensor 5 of the electronic device 1 in various places is collected in the information processing apparatus 80. Each position of the moving body 100 shown in FIG. 4 is schematically illustrated. The plurality of moving bodies 100 may be located at arbitrary positions, may be close to each other, or may be different from each other. Further, each of the plurality of moving bodies 100 may be traveling at an arbitrary speed, or may be stopped or parked.
　図４に示す電子機器１の少なくともいずれかは、例えば２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯のような複数の周波数帯（周波数の複数のセグメント）に対応可能であるものとしてよい。ここで、図４に示す電子機器１の少なくともいずれかは、例えば２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯のような複数の周波数帯の全てに対応してもよいし、複数の周波数帯の少なくとも２つに対応してもよい。また、図４に示す電子機器１のいずれかは、例えば２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯のような複数の周波数帯（周波数の複数のセグメント）のうち１つの周波数帯のみに対応可能であるものとしてもよい。ここで、電子機器１が所定の周波数帯に「対応可能」とは、当該電子機器１が所定の周波数帯において送信波を送信して、当該送信波が反射された反射波を受信することが可能であるものとしてよい。また、電子機器１が所定の周波数帯に「対応可能」とは、送信波として送信される送信信号及び反射波として受信される受信信号に基づいて、当該電子機器１が、送信波を反射する物体を検出可能であるものとしてもよい。 At least one of the electronic devices 1 shown in FIG. 4 may be capable of supporting a plurality of frequency bands (multiple segments of frequency) such as a 24 GHz band, a 77 GHz band, a 79 GHz band, and a 140 GHz band. Here, at least one of the electronic devices 1 shown in FIG. 4 may correspond to all of a plurality of frequency bands such as, for example, 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band, or may correspond to a plurality of frequency bands. It may correspond to at least two of. Further, any one of the electronic devices 1 shown in FIG. 4 corresponds to only one frequency band among a plurality of frequency bands (multiple segments of frequency) such as 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band. It may be possible. Here, when the electronic device 1 is "compatible" with a predetermined frequency band, the electronic device 1 transmits a transmitted wave in a predetermined frequency band and receives the reflected wave reflected by the transmitted wave. It may be possible. Further, when the electronic device 1 is "compatible" with a predetermined frequency band, the electronic device 1 reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave. The object may be detectable.
　一実施形態に係る電子機器１は、複数のセグメントのいずれかの周波数帯において電波を送受信することにより物体検出を行うとともに、当該周波数帯のノイズ電力に関する情報を探査情報に含めて、情報処理装置８０に送信する。一実施形態に係る情報処理装置８０は、各地点に存在する電子機器１のそれぞれから探査情報を受信することにより、当該各地点における所定の周波数帯のノイズ電力に関する情報を集約することができる。このため、一実施形態に係る情報処理装置８０は、ノイズ電力が比較的高い周波数帯において物体検出をしている電子機器１に対しては、ノイズ電力が比較的低い周波数帯において物体検出を行うように制御する制御情報を送信してもよい。また、一実施形態に係る情報処理装置８０は、ノイズ電力が比較的低い周波数帯において物体検出をしている電子機器１に対しては、当該周波数帯において物体検出を継続するように制御する制御情報を送信してもよい。このため、一実施形態に係る電子機器１は、ノイズ電力が比較的高い周波数帯において物体検出を行いにくくなる。したがって、一実施形態に係る電子機器１によれば、送信波の干渉を低減し得る。以下、このような動作について、より詳細に説明する。 The electronic device 1 according to an embodiment detects an object by transmitting and receiving radio waves in any frequency band of a plurality of segments, and includes information on noise power in the frequency band in exploration information to be an information processing device. Send to 80. The information processing apparatus 80 according to the embodiment can collect information on noise power in a predetermined frequency band at each point by receiving exploration information from each of the electronic devices 1 existing at each point. Therefore, the information processing apparatus 80 according to the embodiment performs object detection in the frequency band where the noise power is relatively low for the electronic device 1 which detects the object in the frequency band where the noise power is relatively high. You may send the control information to control such as. Further, the information processing apparatus 80 according to the embodiment controls the electronic device 1 that detects an object in a frequency band where the noise power is relatively low so as to continue the object detection in the frequency band. Information may be sent. Therefore, the electronic device 1 according to the embodiment makes it difficult to detect an object in a frequency band having a relatively high noise power. Therefore, according to the electronic device 1 according to the embodiment, the interference of the transmitted wave can be reduced. Hereinafter, such an operation will be described in more detail.
　まず、一実施形態に係る電子機器１が行う動作のうち、電波の送受信により物体検出を行うとともに、当該電波の周波数帯のノイズ電力に関する情報を探査情報に含めて、情報処理装置８０に送信する動作について説明する。 First, among the operations performed by the electronic device 1 according to the embodiment, object detection is performed by transmitting and receiving radio waves, and information on noise power in the frequency band of the radio waves is included in the exploration information and transmitted to the information processing apparatus 80. The operation will be described.
　このような動作を行うにあたり、一実施形態に係る電子機器１は、自機器の機能情報を、予め又は任意のタイミングで情報処理装置８０に送信してよい。ここで、電子機器１の「機能情報」とは、例えば、当該電子機器１が情報処理装置８０から制御情報を受信することにより、当該電子機器１が物体検出を行う電波の周波数を変更する機能を有するか否かを示す情報を含んでよい。この機能を有する場合、電子機器１は、情報処理装置８０から制御情報を受信することにより、物体検出を行う電波の周波数を変更することができる。一方、この機能を有さない場合、電子機器１は、情報処理装置８０から制御情報を受信したとしても、物体検出を行う電波の周波数を変更することができない。また、電子機器１の「機能情報」とは、例えば、当該電子機器１が物体検出を行う電波の周波数を変更する機能を有する場合に、電波の変更可能な（すなわち対応可能な）周波数帯を示す情報を含んでもよい。 In performing such an operation, the electronic device 1 according to the embodiment may transmit the functional information of the own device to the information processing device 80 in advance or at an arbitrary timing. Here, the "functional information" of the electronic device 1 is, for example, a function of changing the frequency of radio waves for which the electronic device 1 detects an object by receiving control information from the information processing device 80. May include information indicating whether or not the device has. When having this function, the electronic device 1 can change the frequency of the radio wave for detecting an object by receiving control information from the information processing device 80. On the other hand, if this function is not provided, the electronic device 1 cannot change the frequency of the radio wave for detecting the object even if the control information is received from the information processing device 80. Further, the "functional information" of the electronic device 1 is, for example, a frequency band in which the radio wave can be changed (that is, can be supported) when the electronic device 1 has a function of changing the frequency of the radio wave for detecting an object. It may contain information to indicate.
　例えば、図４に示す電子機器１Ａは、物体検出を行う電波の周波数を変更する機能を有さないものとする。この場合、電子機器１Ａは、物体検出を行う電波の周波数を変更する機能を有さない旨を示す機能情報を、情報処理装置８０に送信してよい。これにより、情報処理装置８０は、電波の周波数を変更するように制御する制御情報を電子機器１Ａに送信してしまう事態を回避することができる。また、図４に示す電子機器１Ｂは、物体検出を行う電波の周波数を７７ＧＨｚ帯及び７９ＧＨｚ帯に変更する機能を有するものとする。この場合、電子機器１Ｂは、物体検出を行う電波の周波数を７７ＧＨｚ帯及び７９ＧＨｚ帯に変更する機能を有する旨を示す機能情報を、情報処理装置８０に送信してもよい。また、図４に示す電子機器１Ｃは、物体検出を行う電波の周波数を、２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯に変更する機能を有するものとする。この場合、電子機器１Ｃは、物体検出を行う電波の周波数を、２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯に変更する機能を有する旨を示す機能情報を、情報処理装置８０に送信してよい。このような機能情報は、それぞれの電子機器１の仕様に固有の情報としてよい。それぞれの電子機器１は、予め又は任意のタイミングで、このような機能情報を情報処理装置８０に送信してよい。 For example, the electronic device 1A shown in FIG. 4 does not have a function of changing the frequency of radio waves for detecting an object. In this case, the electronic device 1A may transmit functional information indicating that it does not have the function of changing the frequency of the radio wave for detecting the object to the information processing apparatus 80. As a result, the information processing apparatus 80 can avoid a situation in which the control information for controlling to change the frequency of the radio wave is transmitted to the electronic device 1A. Further, the electronic device 1B shown in FIG. 4 has a function of changing the frequency of the radio wave for detecting an object to the 77 GHz band and the 79 GHz band. In this case, the electronic device 1B may transmit functional information indicating that it has a function of changing the frequency of the radio wave for detecting an object to the 77 GHz band and the 79 GHz band to the information processing apparatus 80. Further, the electronic device 1C shown in FIG. 4 has a function of changing the frequency of the radio wave for detecting an object to the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band. In this case, the electronic device 1C transmits functional information indicating that it has a function of changing the frequency of the radio wave for detecting an object to the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band to the information processing apparatus 80. good. Such functional information may be information unique to the specifications of each electronic device 1. Each electronic device 1 may transmit such functional information to the information processing apparatus 80 in advance or at an arbitrary timing.
　図６は、一実施形態に係るシステムにおいて、電子機器１が行う動作を説明するフローチャートである。図６は、電子機器１が、電子機器１の位置における送信信号及び受信信号に基づく探査情報を、情報処理装置８０に送信するまでの動作について説明する。図６に示す動作が開始する際、電子機器１は移動体１００に搭載され、移動体１００は例えば車道を走行中又は停止中であるものとしてよい。また、図６は、図４に示したような複数の移動体１００のいずれかに搭載された電子機器１が行う動作を示すものとしてよい。 FIG. 6 is a flowchart illustrating the operation performed by the electronic device 1 in the system according to the embodiment. FIG. 6 describes the operation of the electronic device 1 until the search information based on the transmission signal and the reception signal at the position of the electronic device 1 is transmitted to the information processing device 80. When the operation shown in FIG. 6 starts, the electronic device 1 may be mounted on the moving body 100, and the moving body 100 may be, for example, traveling or stopped on a roadway. Further, FIG. 6 may show the operation performed by the electronic device 1 mounted on any of the plurality of mobile bodies 100 as shown in FIG.
　図６に示す動作が開始すると、電子機器１は、送信アンテナ２５から送信波を送信する（ステップＳ１）。ステップＳ１において電子機器１が送信する送信波は、例えば上述したチャープ信号としてよい。また、電子機器１は、ステップＳ１において、送信波として複数のセグメントのいずれかにおける周波数で送信信号を送信してよい。例えば、電子機器１は、ステップＳ１において、２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯のいずれかにおける周波数で、送信信号を送信してよい。 When the operation shown in FIG. 6 starts, the electronic device 1 transmits a transmitted wave from the transmitting antenna 25 (step S1). The transmitted wave transmitted by the electronic device 1 in step S1 may be, for example, the chirp signal described above. Further, in step S1, the electronic device 1 may transmit a transmission signal as a transmission wave at a frequency in any of a plurality of segments. For example, the electronic device 1 may transmit a transmission signal at a frequency in any of the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band in step S1.
　ステップＳ１において送信波が送信されたら、電子機器１は、送信波が例えば物体によって反射された反射波を受信アンテナ３１から受信する（ステップＳ２）。上述のように、電子機器１において、送信信号及び受信信号に基づいてビート信号を生成することができる。また、電子機器１は、ビート信号に距離ＦＦＴ処理などを行うことで、送信波を反射する物体（反射物体）が存在するものと判断することができる。このように、電子機器１は、送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、送信波を反射する物体を検出することができる。 When the transmitted wave is transmitted in step S1, the electronic device 1 receives the reflected wave reflected by, for example, an object from the receiving antenna 31 (step S2). As described above, in the electronic device 1, a beat signal can be generated based on the transmission signal and the reception signal. Further, the electronic device 1 can determine that an object (reflecting object) that reflects the transmitted wave exists by performing a distance FFT process or the like on the beat signal. In this way, the electronic device 1 can detect an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected reflected wave reflected by the transmitted wave.
　ここで、電子機器１は、送信信号及び受信信号に基づく信号のノイズレベル（ノイズ電力）又は検出物体ＳＮＲ（信号帯雑音比、信号品質）等、すなわち物体を検出する際のノイズレベルを判定してもよい。この場合に判定される「ノイズレベル又は検出物体ＳＮＲ等」は、その時点で電子機器１の位置におけるノイズレベル又は検出物体ＳＮＲ等を表している。このようにして判定されたノイズレベル又は検出物体ＳＮＲ等の情報は、例えば一時的に記憶部などに記憶してもよい。 Here, the electronic device 1 determines the noise level (noise power) of the signal based on the transmission signal and the reception signal, the detection object SNR (signal band noise ratio, signal quality), etc., that is, the noise level when detecting the object. You may. The "noise level or detected object SNR or the like" determined in this case represents the noise level or detected object SNR or the like at the position of the electronic device 1 at that time. Information such as the noise level or the detected object SNR determined in this way may be temporarily stored in a storage unit or the like, for example.
　ステップＳ２において反射波を受信したら、電子機器１は、位置取得部６０から自機器（電子機器１、センサ５、又は移動体１００）の位置の情報を取得する（ステップＳ３）ステップＳ３において、位置取得部６０は、例えばＧＰＳ等の衛星測位システムによって位置を取得してよい。 When the reflected wave is received in step S2, the electronic device 1 acquires the position information of the own device (electronic device 1, sensor 5, or moving body 100) from the position acquisition unit 60 (step S3). The acquisition unit 60 may acquire the position by a satellite positioning system such as GPS.
　ステップＳ３において位置情報が取得されたら、電子機器１は、電子機器１の位置における送信信号及び受信信号に基づく探査情報を取得する（ステップＳ４）。ここで、探査情報とは、上述のステップＳ２において説明したように、送信信号及び受信信号に基づく信号のノイズレベル、又は検出物体ＳＮＲ（信号帯雑音比、信号品質）等に関する情報としてよい。探査情報とは、これらの情報の少なくともいずれかを含むものとしてもよい。ステップＳ４において、電子機器１は、例えば記憶部に記憶された探査情報を取得してもよい。なお、探査情報として、送信信号及び受信信号の少なくとも一方の情報としてもよい。例えば、電子機器１は、受信信号の強度、及び／又は、受信信号の周波数に関するノイズ分布などを探査情報としてもよい。 After the position information is acquired in step S3, the electronic device 1 acquires the search information based on the transmission signal and the reception signal at the position of the electronic device 1 (step S4). Here, the exploration information may be information related to the noise level of the signal based on the transmission signal and the reception signal, the detection object SNR (signal band noise ratio, signal quality), and the like, as described in step S2 above. The exploration information may include at least one of these pieces of information. In step S4, the electronic device 1 may acquire the search information stored in the storage unit, for example. The exploration information may be at least one of a transmission signal and a reception signal. For example, the electronic device 1 may use the strength of the received signal and / or the noise distribution related to the frequency of the received signal as search information.
　ステップＳ４において探査情報を取得したら、電子機器１は、当該探査情報を、ステップＳ３において取得した位置情報とともに、情報処理装置８０に送信する（ステップＳ５）。ステップＳ５において、電子機器１は、通信部７０から、情報処理装置８０の受信部８４に送信してよい。図６に示す動作は、例えば所定タイミングで又は不定期に、繰り返し実行してよい。 After acquiring the exploration information in step S4, the electronic device 1 transmits the exploration information to the information processing apparatus 80 together with the position information acquired in step S3 (step S5). In step S5, the electronic device 1 may transmit from the communication unit 70 to the reception unit 84 of the information processing device 80. The operation shown in FIG. 6 may be repeatedly executed, for example, at a predetermined timing or irregularly.
　このように、一実施形態において、電子機器１は、送信波として複数のセグメントのいずれかにおける周波数で送信された送信信号及び反射波として受信された受信信号に基づく探査情報を、情報処理装置８０に送信する。このように送信を行う制御は、例えばレーダ制御部１０及び／又はＥＣＵ５０などによって実行してよい。ここで、探査情報は、電子機器１の位置において送信波の周波数で物体を検出する際のノイズ電力に関する情報を含んでもよい。 As described above, in one embodiment, the electronic device 1 obtains search information based on a transmission signal transmitted at a frequency in any of a plurality of segments as a transmission wave and a reception signal received as a reflected wave in the information processing device 80. Send to. The control for performing such transmission may be executed by, for example, the radar control unit 10 and / or the ECU 50. Here, the exploration information may include information regarding noise power when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1.
　上述のように、図６は、図４に示した複数の移動体１００のいずれかに搭載された電子機器１が行う動作を示すものとしてよい。すなわち、図４に示した複数の移動体１００に搭載された電子機器１は、それぞれに図６に示す動作を行ってよい。このようにして、一実施形態に係るシステムにおける情報処理装置８０は、通信する電子機器１によって、各時点における各位置の探査情報を収集することができる。一実施形態に係るシステムにおいて、情報処理装置８０は、任意の数の電子機器１から探査情報を収集することができる。このため、情報処理装置８０は、各時点における様々な位置の探査情報を収集することができる。 As described above, FIG. 6 may show the operation performed by the electronic device 1 mounted on any of the plurality of mobile bodies 100 shown in FIG. That is, the electronic devices 1 mounted on the plurality of mobile bodies 100 shown in FIG. 4 may perform the operations shown in FIG. 6 respectively. In this way, the information processing apparatus 80 in the system according to the embodiment can collect the exploration information of each position at each time point by the electronic device 1 that communicates. In the system according to one embodiment, the information processing apparatus 80 can collect exploration information from an arbitrary number of electronic devices 1. Therefore, the information processing apparatus 80 can collect exploration information at various positions at each time point.
　図７は、一実施形態に係るシステムにおいて、情報処理装置８０が行う動作を説明するフローチャートである。図７は、情報処理装置８０が、電子機器１から情報を受信して処理した結果を、電子機器１に送信するまでの動作について説明する。図７に示す動作が開始する際、情報処理装置８０は、少なくとも１つの電子機器１と通信ができる状態にあるものとする。また、図７は、図４に示したような情報処理装置８０が行う動作を示すものとしてよい。 FIG. 7 is a flowchart illustrating the operation performed by the information processing apparatus 80 in the system according to the embodiment. FIG. 7 describes an operation in which the information processing device 80 receives information from the electronic device 1 and processes the result until the information processing device 80 transmits the result to the electronic device 1. When the operation shown in FIG. 7 starts, it is assumed that the information processing apparatus 80 is in a state of being able to communicate with at least one electronic device 1. Further, FIG. 7 may show the operation performed by the information processing apparatus 80 as shown in FIG.
　図７に示す動作が開始すると、情報処理装置８０の受信部８４は、少なくとも１つの電子機器１から、当該電子機器１の位置情報とともに、探査情報を受信する（ステップＳ１１）。ステップＳ１１において、受信部８４が受信する探査情報は、当該少なくとも１つの電子機器１の位置における送信信号及び受信信号に基づく探査情報としてよい。ステップＳ１１において、情報処理装置８０は、任意の数の電子機器１から位置情報及び探査情報を受信してよい。例えば、情報処理装置８０は、種々の場所を走行中若しくは停止中の移動体１００に搭載された多数の電子機器１から、それぞれの位置情報及び探査情報を受信してよい。ステップＳ１１において、情報処理装置８０は、送信波が送信される周波数を複数のセグメントにおいて可変にする電子機器１から探査情報を受信してよい。また、ステップＳ１１において、情報処理装置８０は、送信波が送信される周波数を複数のセグメントにおいて可変でない電子機器１から探査情報を受信してよい。 When the operation shown in FIG. 7 starts, the receiving unit 84 of the information processing apparatus 80 receives exploration information from at least one electronic device 1 together with the position information of the electronic device 1 (step S11). In step S11, the exploration information received by the receiving unit 84 may be exploration information based on the transmission signal and the reception signal at the position of the at least one electronic device 1. In step S11, the information processing apparatus 80 may receive position information and exploration information from any number of electronic devices 1. For example, the information processing apparatus 80 may receive position information and exploration information from a large number of electronic devices 1 mounted on a mobile body 100 that is traveling or stopped at various locations. In step S11, the information processing apparatus 80 may receive exploration information from the electronic device 1 that makes the frequency at which the transmitted wave is transmitted variable in a plurality of segments. Further, in step S11, the information processing apparatus 80 may receive search information from the electronic device 1 in which the frequency at which the transmitted wave is transmitted is not variable in a plurality of segments.
　ステップＳ１１において情報処理装置８０（の受信部８４）が受信する電子機器１の位置情報及び探査情報は、図６に示すステップＳ５において電子機器１（の通信部７０）から送信されたものとしてよい。すなわち、ステップＳ１１において受信部８４が受信する探査情報とは、電子機器１の位置において送信波の周波数で物体を検出する際のノイズ電力に関する情報としてよい。 The position information and exploration information of the electronic device 1 received by the information processing device 80 (reception unit 84) in step S11 may be transmitted from the electronic device 1 (communication unit 70) in step S5 shown in FIG. .. That is, the exploration information received by the receiving unit 84 in step S11 may be information related to noise power when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1.
　ステップＳ１１において受信した電子機器１の位置情報及び探査情報は、記憶部８８などに記憶させてよい。この場合、制御部８２は、電子機器１の位置における探査情報を、電子機器１の位置情報に関連付けて、記憶部８８に記憶させてもよい。このようにして、情報処理装置８０は、多数の電子機器１から受信するそれぞれの位置情報及び探査情報を所定の期間に渡って蓄積することができる。したがって、情報処理装置８０は、各位置における各時点の探査情報のデータベースを構築することができる。 The position information and exploration information of the electronic device 1 received in step S11 may be stored in the storage unit 88 or the like. In this case, the control unit 82 may store the search information at the position of the electronic device 1 in the storage unit 88 in association with the position information of the electronic device 1. In this way, the information processing apparatus 80 can accumulate the respective position information and exploration information received from a large number of electronic devices 1 over a predetermined period. Therefore, the information processing apparatus 80 can construct a database of exploration information at each time point at each position.
　例えば、制御部８２は、ある地域の地図を仮想的に例えば数メートル四方のメッシュ状に区分し、区分した領域ごとに、当該区分に関連付けられた探査情報を、記憶部８８に蓄積してもよい。また、仮想的に区分した領域は、例えば１メートル四方としたり、数キロメートルとしたり、任意の大きさとしてよい。仮想的に区分した領域の形状は、メッシュ状に限定されるものではなく、三角型又はハニカム形状など、任意の形状としてよい。また、制御部８２は、当該区分に関連付けられた位置の探査情報を、所定の時間ごとに記憶部８８に蓄積してもよい。例えば、制御部８２は、位置Ｘ１（又は領域Ｘ１）において、１分ごと、３分ごと、５分ごと、１０分ごと、又は３０分ごとなどのように、所定の時間ごとに、探査情報を記憶部８８に蓄積してもよい。例えば、制御部８２は、位置Ｘ１（又は領域Ｘ１）において、午前６時から午前７時まで、午前７時から午前８時まで、午前８時から午前９時までなどのように、１時間ごとに、探査情報を記憶部８８に蓄積してもよい。また、例えば、制御部８２は、位置Ｘ２（又は領域Ｘ２）において、位置Ｘ３（又は領域Ｘ３）においてなどのように、前述同様に１時間ごとに、探査情報を記憶部８８に蓄積してもよい。 For example, even if the control unit 82 virtually divides the map of a certain area into a mesh of, for example, several meters square, and stores the exploration information associated with the division in the storage unit 88 for each divided area. good. Further, the virtually divided area may be, for example, 1 meter square, several kilometers, or any size. The shape of the virtually divided region is not limited to the mesh shape, and may be any shape such as a triangular shape or a honeycomb shape. Further, the control unit 82 may store the search information of the position associated with the division in the storage unit 88 at predetermined time intervals. For example, the control unit 82 outputs the exploration information at a predetermined time such as every 1 minute, every 3 minutes, every 5 minutes, every 10 minutes, or every 30 minutes at the position X1 (or the area X1). It may be accumulated in the storage unit 88. For example, the control unit 82 is set every hour at position X1 (or area X1), such as from 6:00 am to 7:00 am, from 7:00 am to 8:00 am, from 8:00 am to 9:00 am, and so on. In addition, the exploration information may be stored in the storage unit 88. Further, for example, even if the control unit 82 stores the search information in the storage unit 88 every hour as described above, such as at the position X2 (or the area X2) and at the position X3 (or the area X3). good.
　また、制御部８２は、各位置（又は領域）において、１時間ごとではなく、所定のピークタイムの時間帯、及び／又は、所定のアイドルタイムの時間帯ごとに、探査情報を記憶部８８に蓄積してもよい。さらに、制御部８２は、各位置（又は領域）において、例えば各曜日ごと、各日にちごと、又は各月ごとなどに、探査情報を記憶部８８に蓄積してもよい。また、制御部８２は、各位置（又は領域）において、例えば春、夏、秋、又は冬などの季節ごとに、探査情報を記憶部８８に蓄積してもよい。さらに、制御部８２は、各位置（又は領域）において、天候別（すなわち、晴天時時又は雨天時ごと）に、探査情報を記憶部８８に蓄積してもよい。その他、制御部８２は、各条件又は状況ごとに、探査情報を記憶部８８に蓄積してもよい。 Further, the control unit 82 stores the search information in the storage unit 88 at each position (or area) not every hour but at a predetermined peak time time zone and / or a predetermined idle time time zone. It may be accumulated. Further, the control unit 82 may store exploration information in the storage unit 88 at each position (or area), for example, every day of the week, every day, or every month. Further, the control unit 82 may store exploration information in the storage unit 88 at each position (or region) for each season such as spring, summer, autumn, or winter. Further, the control unit 82 may store the exploration information in the storage unit 88 at each position (or area) according to the weather (that is, every time of fine weather or rainy weather). In addition, the control unit 82 may store exploration information in the storage unit 88 for each condition or situation.
　ステップＳ１１において電子機器１の位置情報及び探査情報を受信すると、情報処理装置８０の制御部８２は、当該探査情報に統計処理を行う（ステップＳ１２）。ステップＳ１２において、制御部８２が行う探査情報の統計処理とは、例えば平均値を算出する等の処理としてよい。例えば、ステップＳ１２において、制御部８２は、上述した各位置（又は領域）において、上述のような時間帯ごとに、探査情報の平均値を算出してよい。ステップＳ１２において、制御部８２が探査情報を統計処理されたものを、以下、「統計情報」と記す。例えば、探査情報が、電子機器１の位置において送信波の周波数で物体を検出する際のノイズレベルに関する情報である場合、統計情報は、当該周波数を使用する際のその位置におけるその時間帯の平均的なノイズレベルを示す情報となる。また、制御部８２が行う探査情報の統計処理として、平均値を算出する処理以外に、中央値又は最頻値などを算出する処理を用いてもよい。 Upon receiving the position information and the exploration information of the electronic device 1 in step S11, the control unit 82 of the information processing apparatus 80 performs statistical processing on the exploration information (step S12). In step S12, the statistical processing of the exploration information performed by the control unit 82 may be, for example, a process of calculating an average value. For example, in step S12, the control unit 82 may calculate the average value of the exploration information at each of the above-mentioned positions (or regions) for each of the above-mentioned time zones. In step S12, the statistically processed exploration information by the control unit 82 is hereinafter referred to as “statistical information”. For example, if the exploration information is information about the noise level when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1, the statistical information is the average of the time zone at that position when using the frequency. It is information indicating a typical noise level. Further, as the statistical processing of the exploration information performed by the control unit 82, a processing for calculating the median value, the mode value, or the like may be used in addition to the processing for calculating the average value.
　ステップＳ１２において統計情報が生成されたら、制御部８２は、電子機器１ごとの制御情報を生成する（ステップＳ１３）。ここで、制御情報とは、電子機器１が送信波を送信する周波数を複数のセグメントのいずれかに制御する情報を含むものとしてよい。 When the statistical information is generated in step S12, the control unit 82 generates control information for each electronic device 1 (step S13). Here, the control information may include information that controls the frequency at which the electronic device 1 transmits the transmitted wave to any of a plurality of segments.
　例えば、図４に示す電子機器１Ｃが、位置Ｘ１（又は領域Ｘ１）において、７７ＧＨｚ帯の周波数の電波を送受信することにより物体検出を行っていたとする。そして、ステップＳ１２において情報処理装置８０によって生成された統計情報によれば、例えば位置Ｘ１（又は領域Ｘ１）において７７ＧＨｚ帯はノイズ電力が比較的大きかったとする。この場合、制御部８２は、例えば位置Ｘ１（又は領域Ｘ１）において７７ＧＨｚ帯以外のセグメント（例えば１４０ＧＨｚ帯など）における周波数の電波を送受信する旨の制御情報を生成してよい（ステップＳ１３）。 For example, it is assumed that the electronic device 1C shown in FIG. 4 performs object detection by transmitting and receiving radio waves having a frequency in the 77 GHz band at a position X1 (or a region X1). Then, according to the statistical information generated by the information processing apparatus 80 in step S12, it is assumed that the noise power is relatively large in the 77 GHz band, for example, at the position X1 (or the region X1). In this case, the control unit 82 may generate control information for transmitting and receiving radio waves having a frequency in a segment other than the 77 GHz band (for example, the 140 GHz band) at the position X1 (or region X1) (step S13).
　また、例えば、図４に示す電子機器１Ｃが、位置Ｘ１（又は領域Ｘ１）において、７７ＧＨｚ帯の周波数の電波を送受信することにより物体検出を行っていたとする。そして、ステップＳ１２において情報処理装置８０によって生成された統計情報によれば、例えば位置Ｘ１（又は領域Ｘ１）において７７ＧＨｚ帯はノイズ電力が比較的小さかったとする。この場合、制御部８２は、例えば位置Ｘ１（又は領域Ｘ１）において７７ＧＨｚ帯の電波の送受信を維持する旨の制御情報を生成してよい（ステップＳ１３）。 Further, for example, it is assumed that the electronic device 1C shown in FIG. 4 performs object detection by transmitting and receiving radio waves having a frequency in the 77 GHz band at the position X1 (or region X1). Then, according to the statistical information generated by the information processing apparatus 80 in step S12, it is assumed that the noise power is relatively small in the 77 GHz band, for example, at the position X1 (or the region X1). In this case, the control unit 82 may generate control information for maintaining transmission / reception of radio waves in the 77 GHz band, for example, at the position X1 (or region X1) (step S13).
　図８は、一実施形態に係る電子機器１が所定の位置において送信及び／又は受信する電波の周波数のセグメントにおけるノイズ電力の例を説明する図である。図８において、横軸は送信及び／又は受信する電波の周波数（のセグメント）を示し、縦軸はそれぞれの周波数におけるノイズ電力を示す。 FIG. 8 is a diagram illustrating an example of noise power in a frequency segment of a radio wave transmitted and / or received by an electronic device 1 according to an embodiment at a predetermined position. In FIG. 8, the horizontal axis indicates the frequency (segment) of the radio wave transmitted and / or received, and the vertical axis indicates the noise power at each frequency.
　図８に示すように、一実施形態に係る電子機器１は、周波数帯域を、例えば２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯の４つのセグメントに分割して、電波を送信及び／又は受信可能としてよい。一実施形態に係る電子機器１において、ノイズ電力測定部３７は、図８に示すような４つのセグメントにおいて電波を受信すると、それぞれのセグメントにおけるノイズ電力を測定することができる。 As shown in FIG. 8, the electronic device 1 according to the embodiment divides the frequency band into four segments, for example, 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band, and transmits and / or receives radio waves. It may be possible. In the electronic device 1 according to the embodiment, when the noise power measuring unit 37 receives radio waves in four segments as shown in FIG. 8, the noise power measuring unit 37 can measure the noise power in each segment.
　ノイズ電力測定部３７が４つのセグメント２４ＧＨｚ帯乃至１４０ＧＨｚ帯におけるノイズ電力を測定した結果、図８に示すように、７７ＧＨｚ帯のセグメントにおけるノイズ電力が最も低かったとする。また、図８に示すように、２４ＧＨｚ帯のセグメント及び１４０ＧＨｚ帯のセグメントにおけるノイズ電力は、７７ＧＨｚ帯のセグメントにおけるノイズ電力よりも高く、７９ＧＨｚ帯のセグメントにおけるノイズ電力よりも低かったとする。また、図８に示すように、７９ＧＨｚ帯のセグメントにおけるノイズ電力は、４つのセグメント２４ＧＨｚ帯乃至１４０ＧＨｚ帯の中で最も高かったとする。このようにノイズ電力測定部３７が測定した各セグメントのノイズ電力の情報は、探査情報に含まれることにより、情報処理装置８０に送信される。 As a result of measuring the noise power in the four segments 24 GHz band to 140 GHz band by the noise power measuring unit 37, it is assumed that the noise power in the 77 GHz band segment is the lowest as shown in FIG. Further, as shown in FIG. 8, it is assumed that the noise power in the 24 GHz band segment and the 140 GHz band segment is higher than the noise power in the 77 GHz band segment and lower than the noise power in the 79 GHz band segment. Further, as shown in FIG. 8, it is assumed that the noise power in the 79 GHz band segment is the highest among the four segments 24 GHz band to 140 GHz band. The noise power information of each segment measured by the noise power measuring unit 37 in this way is included in the exploration information and transmitted to the information processing apparatus 80.
　図８に示すようなノイズ電力を測定した電子機器１の位置において、例えばノイズ電力が比較的高い７９ＧＨｚ帯の周波数を用いて電波の送受信を行う電子機器１の数が多くなると、互いに電波が干渉するリスクが増す。このような状況においては、電子機器１が物体を検出する精度が劣化することも想定される。したがって、例えば図８に示すような状況においては、７９ＧＨｚ帯の周波数を用いて電波の送受信を行う電子機器１の数が現在より増大しないようにしてもよい。また、図８に示すような状況においては、７９ＧＨｚ帯の周波数を用いて電波の送受信を行う電子機器１の少なくともいずれかが、７９ＧＨｚ帯以外の周波数を用いて電波の送受信を行うようにしてもよい。すなわち、７９ＧＨｚ帯の周波数を用いて電波の送受信を行う電子機器１の少なくともいずれかが送受信する電波の周波数を変更してもよい。この場合、例えば図８に示すような状況においては、例えばノイズ電力が比較的低い７７ＧＨｚ帯の周波数を用いて電波の送受信を行う電子機器１の数を増大させてもよい。 At the position of the electronic device 1 for which the noise power is measured as shown in FIG. 8, for example, when the number of the electronic devices 1 that transmit and receive radio waves using a frequency in the 79 GHz band having a relatively high noise power increases, the radio waves interfere with each other. Increases the risk of doing so. In such a situation, it is assumed that the accuracy with which the electronic device 1 detects an object deteriorates. Therefore, for example, in the situation shown in FIG. 8, the number of electronic devices 1 that transmit and receive radio waves using a frequency in the 79 GHz band may not be increased from the present. Further, in the situation shown in FIG. 8, even if at least one of the electronic devices 1 that transmit and receive radio waves using the frequency of the 79 GHz band transmits and receives radio waves using a frequency other than the 79 GHz band. good. That is, at least one of the electronic devices 1 that transmit and receive radio waves using the frequency in the 79 GHz band may change the frequency of the radio waves transmitted and received. In this case, for example, in the situation shown in FIG. 8, for example, the number of electronic devices 1 that transmit and receive radio waves may be increased by using a frequency in the 77 GHz band having relatively low noise power.
　以上のように、情報処理装置８０の制御部８２は、所定の周波数帯のノイズ電力が比較的小さい位置においては、比較的多数の電子機器１が当該所定の周波数帯の電波を送受信するように制御してよい。一方、情報処理装置８０の制御部８２は、所定の周波数帯のノイズ電力が比較的大きい位置においては、比較的少数の電子機器１が当該所定の周波数帯の電波を送受信するように制御してよい。 As described above, the control unit 82 of the information processing apparatus 80 causes a relatively large number of electronic devices 1 to transmit and receive radio waves in the predetermined frequency band at a position where the noise power in the predetermined frequency band is relatively small. You may control it. On the other hand, the control unit 82 of the information processing apparatus 80 controls so that a relatively small number of electronic devices 1 transmit and receive radio waves in the predetermined frequency band at a position where the noise power in the predetermined frequency band is relatively large. good.
　また、情報処理装置８０の制御部８２は、周波数帯の複数のセグメントにおいて電波が送受信されている場合、周波数の複数のセグメントのうちノイズ電力が小さいセグメントほど、送信波の周波数で物体を検出する電子機器１の数を多くしてもよい。また、情報処理装置８０の制御部８２は、周波数帯の複数のセグメントにおいて電波が送受信されている場合、周波数の複数のセグメントのうちノイズ電力が最も小さいセグメントにおいて、送信波の周波数で物体を検出する電子機器１の数を最も多くしてもよい。 Further, when radio waves are transmitted and received in a plurality of segments of the frequency band, the control unit 82 of the information processing device 80 detects an object at the frequency of the transmitted wave as the noise power of the plurality of segments of the frequency is smaller. The number of electronic devices 1 may be increased. Further, when the control unit 82 of the information processing apparatus 80 transmits / receives radio waves in a plurality of segments of the frequency band, the control unit 82 detects an object at the frequency of the transmitted wave in the segment having the smallest noise power among the plurality of segments of the frequency. The number of electronic devices 1 to be used may be the largest.
　一方、情報処理装置８０の制御部８２は、周波数帯の複数のセグメントにおいて電波が送受信されている場合、周波数の複数のセグメントのうちノイズ電力が大きいセグメントほど、送信波の周波数で物体を検出する電子機器１の数を少なくしてもよい。また、情報処理装置８０の制御部８２は、周波数帯の複数のセグメントにおいて電波が送受信されている場合、周波数の複数のセグメントのうちノイズ電力が最も大きいセグメントにおいて、送信波の周波数で物体を検出する前記電子機器の数を最も少なくしてもよい。 On the other hand, when radio waves are transmitted and received in a plurality of segments of the frequency band, the control unit 82 of the information processing device 80 detects an object at the frequency of the transmitted wave as the noise power of the plurality of segments of the frequency is larger. The number of electronic devices 1 may be reduced. Further, when the control unit 82 of the information processing device 80 transmits / receives radio waves in a plurality of segments of the frequency band, the control unit 82 detects an object at the frequency of the transmitted wave in the segment having the largest noise power among the plurality of segments of the frequency. The number of the electronic devices to be used may be minimized.
　図７のステップＳ１３において制御情報が生成されたら、情報処理装置８０の制御部８２は、生成された制御情報を電子機器１に送信する（ステップＳ１４）。ステップＳ１４において、制御部８２は、統計情報に応じて生成された所定の位置における制御情報を、当該所定の位置又は当該所定の位置の近くに存在する電子機器１に送信してよい。また、ステップＳ１４において、制御部８２は、探査情報を送信してきた電子機器１に対して、当該探査情報に基づいて統計情報を経て生成された制御情報を返信してもよい。また、ステップＳ１４において、制御部８２は、物体検出を行う電波の周波数を変更する機能を有する旨を示す機能情報を送信してきた電子機器１に対してのみ、制御情報を送信してもよい。さらに、ステップＳ１４において、制御部８２は、制御情報によって制御される周波数に電子機器１が対応可能な旨が機能情報によって示されている場合にのみ、当該電子機器１に制御情報を送信してもよい。 When the control information is generated in step S13 of FIG. 7, the control unit 82 of the information processing apparatus 80 transmits the generated control information to the electronic device 1 (step S14). In step S14, the control unit 82 may transmit the control information at the predetermined position generated according to the statistical information to the electronic device 1 existing at the predetermined position or near the predetermined position. Further, in step S14, the control unit 82 may return the control information generated via the statistical information based on the exploration information to the electronic device 1 that has transmitted the exploration information. Further, in step S14, the control unit 82 may transmit the control information only to the electronic device 1 that has transmitted the functional information indicating that it has the function of changing the frequency of the radio wave for detecting the object. Further, in step S14, the control unit 82 transmits the control information to the electronic device 1 only when the functional information indicates that the electronic device 1 can correspond to the frequency controlled by the control information. May be good.
　図７に示す動作は、例えば所定タイミングで又は不定期に、繰り返し実行してよい。このようにすれば、統計情報及び制御情報を最新の内容に更新することができる。 The operation shown in FIG. 7 may be repeatedly executed, for example, at a predetermined timing or irregularly. In this way, the statistical information and the control information can be updated to the latest contents.
　このように、一実施形態において、情報処理装置８０は、電子機器１と通信する。ここで、電子機器１は、上述のように、送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する。また、電子機器１は、送信波が送信される周波数を複数のセグメントにおいて可変にするものであってもよい。一実施形態に係る情報処理装置８０は、受信部８４と、制御部８２と、送信部８６とを備えている。受信部８４は、電子機器１の位置情報とともに、送信波として送信された送信信号及び反射波として受信された受信信号に基づく探査情報を、電子機器１から受信する。制御部８２は、電子機器１の位置における探査情報を統計処理して統計情報を生成し、電子機器１を制御する制御情報を統計情報に応じて生成する。送信部８６は、制御部８２によって生成された制御情報を、電子機器１に送信する。 Thus, in one embodiment, the information processing device 80 communicates with the electronic device 1. Here, as described above, the electronic device 1 detects an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave reflected by the transmitted wave. do. Further, the electronic device 1 may make the frequency at which the transmitted wave is transmitted variable in a plurality of segments. The information processing apparatus 80 according to one embodiment includes a receiving unit 84, a control unit 82, and a transmitting unit 86. The reception unit 84 receives the position information of the electronic device 1 as well as the search information based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave from the electronic device 1. The control unit 82 statistically processes the exploration information at the position of the electronic device 1 to generate statistical information, and generates control information for controlling the electronic device 1 according to the statistical information. The transmission unit 86 transmits the control information generated by the control unit 82 to the electronic device 1.
　また、探査情報は、電子機器１の位置において送信波の周波数で物体を検出する際のノイズ電力に関する情報を含んでもよい。また、制御情報は、電子機器１が送信波を送信する周波数を複数のセグメントのいずれかに制御する情報を含んでもよい。 Further, the exploration information may include information on noise power when detecting an object at the frequency of the transmitted wave at the position of the electronic device 1. Further, the control information may include information for controlling the frequency at which the electronic device 1 transmits the transmitted wave to any of a plurality of segments.
　図９は、一実施形態に係るシステムにおいて、電子機器１が行う動作を説明するフローチャートである。図９は、一実施形態に係るシステムにおいて、情報処理装置８０が図７に示した動作を行った後に、電子機器１が行う動作を説明するフローチャートとしてよい。図９は、電子機器１が、生成された制御情報を情報処理装置８０から受信して、当該生成された制御情報に基づいて、物体を検出する動作について説明する。図９は、図４に示したような移動体１００に搭載された電子機器１が行う動作を示すものとしてよい。また、図９に示す動作が開始する際、少なくとも１つの電子機器１は、情報処理装置８０と通信ができる状態にあるものとする。また、以下列名する電子機器１は、送信波が送信される周波数を複数のセグメントにおいて可変であるものとする。 FIG. 9 is a flowchart illustrating the operation performed by the electronic device 1 in the system according to the embodiment. FIG. 9 may be a flowchart illustrating the operation performed by the electronic device 1 after the information processing apparatus 80 performs the operation shown in FIG. 7 in the system according to the embodiment. FIG. 9 describes an operation in which the electronic device 1 receives the generated control information from the information processing apparatus 80 and detects an object based on the generated control information. FIG. 9 may show the operation performed by the electronic device 1 mounted on the mobile body 100 as shown in FIG. Further, when the operation shown in FIG. 9 starts, it is assumed that at least one electronic device 1 is in a state of being able to communicate with the information processing device 80. Further, in the electronic device 1 named in the following column, it is assumed that the frequency at which the transmitted wave is transmitted is variable in a plurality of segments.
　図９に示す動作が開始すると、電子機器１の通信部７０は、情報処理装置８０の送信部８６から、生成された制御情報を受信する（ステップＳ２１）。ステップＳ２１において、通信部７０が受信する制御情報は、図７に示すステップＳ１４において情報処理装置８０から送信された制御情報としてよい。ステップＳ２１において、電子機器１は、電子機器１の位置（又は領域）に対応して生成された制御情報を受信してよい。また、ステップＳ２１において、電子機器１は、現在の時刻を含む時間帯に対応して生成された制御情報を受信してよい。 When the operation shown in FIG. 9 starts, the communication unit 70 of the electronic device 1 receives the generated control information from the transmission unit 86 of the information processing device 80 (step S21). The control information received by the communication unit 70 in step S21 may be the control information transmitted from the information processing apparatus 80 in step S14 shown in FIG. In step S21, the electronic device 1 may receive the control information generated corresponding to the position (or area) of the electronic device 1. Further, in step S21, the electronic device 1 may receive the control information generated corresponding to the time zone including the current time.
　ステップＳ２１において制御情報を受信すると、電子機器１のレーダ制御部１０は、制御情報に基づく送信波を送信アンテナ２５から送信する（ステップＳ２２）。ステップＳ２２において、レーダ制御部１０は、情報処理装置８０から受信した制御情報に基づく周波数で、送信アンテナ２５から送信波を送信してよい。例えば、制御情報において今まで送信していた周波数とは異なる他の周波数の送信波を送信する制御に関する情報が含まれていた場合、レーダ制御部１０は、当該他の周波数の送信波を送信アンテナ２５から送信してよい。また、例えば、制御情報において今まで送信していた周波数を維持する制御に関する情報が含まれていた場合、レーダ制御部１０は、当該周波数の送信波を送信アンテナ２５から送信してよい。その他、ステップＳ２２に示す動作は、図６に示したステップＳ１の動作と同様に実行してよい。 Upon receiving the control information in step S21, the radar control unit 10 of the electronic device 1 transmits a transmission wave based on the control information from the transmission antenna 25 (step S22). In step S22, the radar control unit 10 may transmit a transmitted wave from the transmitting antenna 25 at a frequency based on the control information received from the information processing device 80. For example, when the control information includes information related to control for transmitting a transmitted wave of a frequency different from the frequency transmitted so far, the radar control unit 10 transmits the transmitted wave of the other frequency to the transmitting antenna. It may be transmitted from 25. Further, for example, when the control information includes information related to the control for maintaining the frequency transmitted so far, the radar control unit 10 may transmit the transmitted wave of the frequency from the transmitting antenna 25. In addition, the operation shown in step S22 may be executed in the same manner as the operation shown in step S1 shown in FIG.
　ステップＳ２２において送信波が送信されたら、電子機器１は、送信波が例えば物体によって反射された反射波を受信アンテナ３１から受信する（ステップＳ２３）。ステップＳ２３に示す動作は、図６に示したステップＳ２の動作と同様に実行してよい。 When the transmitted wave is transmitted in step S22, the electronic device 1 receives the reflected wave reflected by, for example, an object from the receiving antenna 31 (step S23). The operation shown in step S23 may be executed in the same manner as the operation of step S2 shown in FIG.
　ステップＳ２３において反射波が受信されたら、電子機器１は、送信信号及び受信信号に基づいて、送信波を反射する物体を検出する（ステップＳ２４）。図９に示す動作は、例えば所定タイミングで又は不定期に、繰り返し実行してよい。 When the reflected wave is received in step S23, the electronic device 1 detects an object that reflects the transmitted wave based on the transmitted signal and the received signal (step S24). The operation shown in FIG. 9 may be repeatedly executed, for example, at a predetermined timing or irregularly.
　このように、一実施形態において、電子機器１は、送信波が送信される周波数を複数のセグメントにおいて可変にしてよい。また、電子機器１は、送信波として送信される送信信号及び反射波として受信される受信信号に基づいて、送信波を反射する物体を検出する。また、電子機器１は、情報処理装置８０から受信した制御情報に基づく周波数で、送信アンテナ２５から送信波を送信してよい。このような制御は、例えばレーダ制御部１０及び／又はＥＣＵ５０などによって実行してよい。ここで、ここで、制御情報は、複数のセグメントのいずれかにおける周波数で送信波を送信する制御に関する情報を含んでもよい。 As described above, in one embodiment, the electronic device 1 may make the frequency at which the transmitted wave is transmitted variable in a plurality of segments. Further, the electronic device 1 detects an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Further, the electronic device 1 may transmit a transmitted wave from the transmitting antenna 25 at a frequency based on the control information received from the information processing device 80. Such control may be executed by, for example, the radar control unit 10 and / or the ECU 50. Here, the control information may include information regarding control for transmitting a transmitted wave at a frequency in any of a plurality of segments.
　このように、一実施形態に係る電子機器１において、電子機器１が物体検出に用いる電波の周波数は、情報処理装置８０から供給される情報に基づいて設定される。また、一実施形態に係る情報処理装置８０は、電子機器１が使用する電波の周波数帯におけるノイズ電力が比較的大きい場合、当該電子機器１が他の周波数帯の電波を使用するように制御情報を送信する。したがって、一実施形態に係る電子機器１及び情報処理装置８０によれば、送信波が干渉しにくくなる。 As described above, in the electronic device 1 according to the embodiment, the frequency of the radio wave used by the electronic device 1 for object detection is set based on the information supplied from the information processing device 80. Further, when the noise power in the frequency band of the radio wave used by the electronic device 1 is relatively large, the information processing device 80 according to the embodiment controls information so that the electronic device 1 uses the radio wave in another frequency band. To send. Therefore, according to the electronic device 1 and the information processing device 80 according to the embodiment, the transmitted wave is less likely to interfere.
　上述した実施形態において、電子機器１は、例えば２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯のような周波数の複数のセグメントに対応可能であるものとして説明した。このような電子機器１の動作は、便宜的に、インターバンド（Ｉｎｔｅｒ－Ｂａｎｄ）動作、又は帯域間動作とも記すことができる。一方、電子機器１は、例えば２４ＧＨｚ帯のような特定の周波数帯域を分割した複数のセグメントに対応可能であるものとしてもよい。このような電子機器１の動作は、便宜的に、イントラバンド（Ｉｎｔｒａ－Ｂａｎｄ）動作、又は帯域内動作とも記すことができる。さらに、電子機器１において、送信波を送信する周波数の複数のセグメントは、異なる複数の周波数帯域のいずれかに属するとともに、当該異なる複数の周波数帯域のそれぞれにおいて分割されたセグメントとしてもよい。このような電子機器１の動作は、便宜的に、イントラバンド動作とインターバンド動作とのハイブリッド型動作とも記すことができる。 In the above-described embodiment, the electronic device 1 has been described as being capable of corresponding to a plurality of segments of frequencies such as 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band. For convenience, such an operation of the electronic device 1 can also be described as an inter-band operation or an inter-band operation. On the other hand, the electronic device 1 may be capable of supporting a plurality of segments in which a specific frequency band is divided, for example, the 24 GHz band. For convenience, such an operation of the electronic device 1 can also be described as an intra-band operation or an in-band operation. Further, in the electronic device 1, the plurality of segments of the frequency for transmitting the transmitted wave may belong to any of a plurality of different frequency bands, and may be divided into segments in each of the plurality of different frequency bands. For convenience, such an operation of the electronic device 1 can also be described as a hybrid type operation of an intra-band operation and an inter-band operation.
　本開示を諸図面及び実施例に基づき説明してきたが、当業者であれば本開示に基づき種々の変形又は修正を行うことが容易であることに注意されたい。したがって、これらの変形又は修正は本開示の範囲に含まれることに留意されたい。例えば、各機能部に含まれる機能などは論理的に矛盾しないように再配置可能である。複数の機能部等は、１つに組み合わせられたり、分割されたりしてよい。上述した本開示に係る各実施形態は、それぞれ説明した各実施形態に忠実に実施することに限定されるものではなく、適宜、各特徴を組み合わせたり、一部を省略したりして実施され得る。つまり、本開示の内容は、当業者であれば本開示に基づき種々の変形及び修正を行うことができる。したがって、これらの変形及び修正は本開示の範囲に含まれる。例えば、各実施形態において、各機能部、各手段、各ステップなどは論理的に矛盾しないように他の実施形態に追加し、若しくは、他の実施形態の各機能部、各手段、各ステップなどと置き換えることが可能である。また、各実施形態において、複数の各機能部、各手段、各ステップなどを１つに組み合わせたり、或いは分割したりすることが可能である。また、上述した本開示の各実施形態は、それぞれ説明した各実施形態に忠実に実施することに限定されるものではなく、適宜、各特徴を組み合わせたり、一部を省略したりして実施することもできる。 Although this disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications or modifications based on this disclosure. It should be noted, therefore, that these modifications or modifications are within the scope of this disclosure. For example, the functions included in each functional unit can be rearranged so as not to be logically inconsistent. A plurality of functional units and the like may be combined or divided into one. Each of the above-described embodiments according to the present disclosure is not limited to faithful implementation of each of the embodiments described above, and may be implemented by combining or omitting some of the features as appropriate. .. That is, the contents of the present disclosure can be modified and modified by those skilled in the art based on the present disclosure. Therefore, these modifications and modifications are within the scope of this disclosure. For example, in each embodiment, each functional unit, each means, each step, etc. are added to other embodiments so as not to be logically inconsistent, or each functional unit, each means, each step, etc. of another embodiment, etc. Can be replaced with. Further, in each embodiment, it is possible to combine or divide a plurality of each functional unit, each means, each step, and the like into one. Further, each of the above-described embodiments of the present disclosure is not limited to faithful implementation of each of the embodiments described above, and each of the features may be combined or partially omitted as appropriate. You can also do it.
　上述した実施形態は、電子機器１及び情報処理装置８０としての実施のみに限定されるものではない。例えば、上述した実施形態は、電子機器１及び／又は情報処理装置８０のような機器の制御方法として実施してもよい。さらに、例えば、上述した実施形態は、電子機器１及び／又は情報処理装置８０のような機器が実行するプログラムとして実施してもよい。 The above-described embodiment is not limited to the implementation as the electronic device 1 and the information processing device 80. For example, the above-described embodiment may be implemented as a control method for a device such as the electronic device 1 and / or the information processing device 80. Further, for example, the above-described embodiment may be implemented as a program executed by a device such as the electronic device 1 and / or the information processing device 80.
　上述のように、各実施形態に係る電子機器において、送信波を送信する周波数の複数のセグメントは、２４ＧＨｚ帯、７７ＧＨｚ帯、７９ＧＨｚ帯、及び１４０ＧＨｚ帯の少なくともいずれかに含まれるものとしてもよい。しかしながら、各実施形態に係る電子機器において、送信波を送信する周波数の複数のセグメントは、前述した周波数帯域以外の周波数帯域に含まれるものとしてもよい。 As described above, in the electronic device according to each embodiment, the plurality of segments of the frequency for transmitting the transmitted wave may be included in at least one of the 24 GHz band, 77 GHz band, 79 GHz band, and 140 GHz band. However, in the electronic device according to each embodiment, the plurality of segments of the frequency at which the transmitted wave is transmitted may be included in a frequency band other than the frequency band described above.
１　電子機器
１０　レーダ制御部
１２　周波数シンセサイザ
２０　送信部
２１　送信信号生成部
２２　ＤＡＣ
２３　送信アンテナ
３０　受信部
３１　受信アンテナ
３２　ＡＤＣ
３３　距離推定部
３４　速度推定部
３５　角度推定部
３６　クラスタリング・トラッキング処理部
３７　ノイズ電力測定部
４０　アナログフロントエンド 1 Electronic device 10 Radar control unit 12 Frequency synthesizer 20 Transmission unit 21 Transmission signal generation unit 22 DAC
23 Transmitting antenna 30 Receiving unit 31 Receiving antenna 32 ADC
33 Distance estimation unit 34 Speed estimation unit 35 Angle estimation unit 36 Clustering tracking processing unit 37 Noise power measurement unit 40 Analog front end

Claims (17)

  1. 　送信波を送信する送信アンテナと、
    　前記送信波が反射された反射波を受信する受信アンテナと、
    　を備え、
    　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器であって、
    　前記電子機器の位置情報とともに、前記送信波として前記複数のセグメントのいずれかにおける周波数で送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、情報処理装置に送信する、電子機器。     The transmitting antenna that transmits the transmitted wave and
    A receiving antenna that receives the reflected wave reflected by the transmitted wave, and
    Equipped with
    The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is detected based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. It is an electronic device that
    Along with the position information of the electronic device, the search information based on the transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave and the reception signal received as the reflected wave is transmitted to the information processing apparatus. Electronics.
  2. 　前記探査情報は、前記電子機器の位置において物体を検出する際のノイズ電力に関する情報を含む、請求項１に記載の電子機器。 The electronic device according to claim 1, wherein the exploration information includes information on noise power when detecting an object at the position of the electronic device.
  3. 　送信波を送信する送信アンテナと、
    　前記送信波が反射された反射波を受信する受信アンテナと、
    　を備え、
    　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器であって、
    　前記送信波を、情報処理装置から受信した制御情報に基づく周波数で、前記送信アンテナから送信する、電子機器。     The transmitting antenna that transmits the transmitted wave and
    A receiving antenna that receives the reflected wave reflected by the transmitted wave, and
    Equipped with
    The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is detected based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. It is an electronic device that
    An electronic device that transmits the transmitted wave from the transmitting antenna at a frequency based on control information received from the information processing device.
  4. 　前記制御情報は、前記複数のセグメントのいずれかにおける周波数で前記送信波を送信する制御に関する情報を含む、請求項３に記載の電子機器。 The electronic device according to claim 3, wherein the control information includes information regarding control for transmitting the transmitted wave at a frequency in any of the plurality of segments.
  5. 　送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器と通信する情報処理装置であって、
    　前記電子機器の位置情報とともに、前記送信波として送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、前記電子機器から受信する受信部と、
    　前記電子機器の位置における前記探査情報を統計処理して統計情報を生成し、前記電子機器を制御する制御情報を前記統計情報に応じて生成する制御部と、
    　前記制御部によって生成された前記制御情報を、前記電子機器に送信する送信部と、
    　を備える、情報処理装置。     An information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on a transmitted signal transmitted as a transmitted wave and a received signal received as a reflected wave reflected by the transmitted wave.
    A receiving unit that receives the search information based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device from the electronic device.
    A control unit that statistically processes the exploration information at the position of the electronic device to generate statistical information, and generates control information for controlling the electronic device according to the statistical information.
    A transmission unit that transmits the control information generated by the control unit to the electronic device, and a transmission unit.
    An information processing device equipped with.
  6. 　前記探査情報は、前記電子機器の位置において物体を検出する際のノイズ電力に関する情報を含む、請求項５に記載の情報処理装置。 The information processing device according to claim 5, wherein the exploration information includes information regarding noise power when detecting an object at the position of the electronic device.
  7. 　前記制御情報は、前記電子機器が前記送信波を送信する周波数を制御する情報を含む、請求項５又は６に記載の情報処理装置。 The information processing device according to claim 5 or 6, wherein the control information includes information for controlling a frequency at which the electronic device transmits the transmitted wave.
  8. 　前記周波数の複数のセグメントのうちノイズ電力が小さいセグメントほど、前記送信波の周波数で物体を検出する前記電子機器の数を多くする、請求項６及び７に記載の情報処理装置。 The information processing apparatus according to claim 6 and 7, wherein the segment having a smaller noise power among the plurality of segments of the frequency increases the number of the electronic devices that detect an object at the frequency of the transmitted wave.
  9. 　前記周波数の複数のセグメントのうちノイズ電力が最も小さいセグメントにおいて、前記送信波の周波数で物体を検出する前記電子機器の数を最も多くする、請求項６及び７に記載の情報処理装置。 The information processing apparatus according to claim 6 and 7, wherein the number of the electronic devices that detect an object at the frequency of the transmitted wave is the largest in the segment having the smallest noise power among the plurality of segments of the frequency.
  10. 　前記周波数の複数のセグメントのうちノイズ電力が大きいセグメントほど、前記送信波の周波数で物体を検出する前記電子機器の数を少なくする、請求項６及び７に記載の情報処理装置。 The information processing apparatus according to claim 6 and 7, wherein the segment having a larger noise power among the plurality of segments of the frequency reduces the number of the electronic devices that detect an object at the frequency of the transmitted wave.
  11. 　前記周波数の複数のセグメントのうちノイズ電力が最も大きいセグメントにおいて、前記送信波の周波数で物体を検出する前記電子機器の数を最も少なくする、請求項６及び７に記載の情報処理装置。 The information processing apparatus according to claim 6 and 7, wherein the number of the electronic devices that detect an object at the frequency of the transmitted wave is minimized in the segment having the largest noise power among the plurality of segments of the frequency.
  12. 　送信波を送信アンテナによって送信するステップと、
    　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
    　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を電子機器によって検出するステップと、
    　前記電子機器の位置情報とともに、前記送信波として前記複数のセグメントのいずれかにおける周波数で送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、情報処理装置に送信するステップと、
    　を含む、電子機器の制御方法。     The step of transmitting the transmitted wave by the transmitting antenna and
    The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
    The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and
    A step of transmitting search information based on a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave and a reception signal received as the reflected wave as the transmission wave to the information processing apparatus together with the position information of the electronic device. When,
    How to control electronic devices, including.
  13. 　送信波を送信アンテナによって送信するステップと、
    　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
    　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を電子機器によって検出するステップと、
    　前記送信波を、情報処理装置から受信した制御情報に基づく周波数で、前記送信アンテナから送信するステップと、
    　を含む、電子機器の制御方法。     The step of transmitting the transmitted wave by the transmitting antenna and
    The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
    The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and
    A step of transmitting the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device.
    How to control electronic devices, including.
  14. 　送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器と通信する情報処理装置の制御方法であって、
    　前記電子機器の位置情報とともに、前記送信波として送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、前記電子機器から受信するステップと、
    　前記電子機器の位置における前記探査情報を統計処理して統計情報を生成し、前記電子機器を制御する制御情報を前記統計情報に応じて生成するステップと、
    　前記制御部によって生成された前記制御情報を、前記電子機器に送信するステップと、
    　を含む、情報処理装置の制御方法。     A control method for an information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave reflected by the transmitted wave. There,
    A step of receiving search information from the electronic device based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device.
    A step of statistically processing the exploration information at the position of the electronic device to generate statistical information, and generating control information for controlling the electronic device according to the statistical information.
    A step of transmitting the control information generated by the control unit to the electronic device, and
    A method of controlling an information processing device, including.
  15. 　電子機器に、
    　送信波を送信アンテナによって送信するステップと、
    　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
    　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出するステップと、
    　前記電子機器の位置情報とともに、前記送信波として前記複数のセグメントのいずれかにおける周波数で送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、情報処理装置に送信するステップと、
    　を実行させるプログラム。     For electronic devices
    The step of transmitting the transmitted wave by the transmitting antenna and
    The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
    The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is detected based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps to do and
    A step of transmitting search information based on a transmission signal transmitted at a frequency in any of the plurality of segments as the transmission wave and a reception signal received as the reflected wave as the transmission wave to the information processing apparatus together with the position information of the electronic device. When,
    A program to execute.
  16. 　電子機器に、
    　送信波を送信アンテナによって送信するステップと、
    　前記送信波が反射された反射波を受信アンテナによって受信するステップと、
    　前記送信波が送信される周波数を複数のセグメントにおいて可変にするとともに、前記送信波として送信される送信信号及び前記反射波として受信される受信信号に基づいて、前記送信波を反射する物体を電子機器によって検出するステップと、
    　前記送信波を、情報処理装置から受信した制御情報に基づく周波数で、前記送信アンテナから送信するステップと、
    　を実行させるプログラム。     For electronic devices
    The step of transmitting the transmitted wave by the transmitting antenna and
    The step of receiving the reflected wave reflected by the transmitted wave by the receiving antenna,
    The frequency at which the transmitted wave is transmitted is made variable in a plurality of segments, and an object that reflects the transmitted wave is electronically based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. Steps detected by the device and
    A step of transmitting the transmitted wave from the transmitting antenna at a frequency based on the control information received from the information processing device.
    A program to execute.
  17. 　送信波として送信される送信信号及び前記送信波が反射された反射波として受信される受信信号に基づいて、前記送信波を反射する物体を検出する電子機器と通信する情報処理装置に、
    　前記電子機器の位置情報とともに、前記送信波として送信された送信信号及び前記反射波として受信された受信信号に基づく探査情報を、前記電子機器から受信するステップと、
    　前記電子機器の位置における前記探査情報を統計処理して統計情報を生成し、前記電子機器を制御する制御情報を前記統計情報に応じて生成するステップと、
    　前記制御部によって生成された前記制御情報を、前記電子機器に送信するステップと、
    　を実行させるプログラム。     An information processing device that communicates with an electronic device that detects an object that reflects the transmitted wave based on the transmitted signal transmitted as a transmitted wave and the received signal received as a reflected wave reflected by the transmitted wave.
    A step of receiving search information from the electronic device based on the transmission signal transmitted as the transmission wave and the reception signal received as the reflected wave together with the position information of the electronic device.
    A step of statistically processing the exploration information at the position of the electronic device to generate statistical information, and generating control information for controlling the electronic device according to the statistical information.
    A step of transmitting the control information generated by the control unit to the electronic device, and
    A program to execute.
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